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T. Kawabe, Y. Kogure, K. Nakamura, K. Morikawa and T. Arikawa, “Traction Control of Electric Vehicle by Model Predictive PID Controller,” Transaction of Japan Society of Mechanical Engineers, Series C, Vol. 77, No. 781, 2011, pp. 3375-3385. doi:10.1299/kikaic.77.3375

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