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Meza, J. L., Santibanez, V., Soto, R. and Llama, M.A. (2012) Fuzzy Self-Tuning PID Semiglobal Regulator for Robot Manipulators.IEEE Transactions on Industrial Electronics, 59, 2709-2717.
http://dx.doi.org/10.1109/TIE.2011.2168789

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