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S. Endo, H. Kobayashi, C. J. Kempf, S. Kobayashi, M. Tomizuka and Y. Hori, “Robust Digital Tracking Controller Design for High-Speed Positioning System,” Control Engineering Practice, Vol. 4, No. 4, 1996, pp. 527-536. doi:10.1016/0967-0661(96)00036-6
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