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Tang, S.C., Lai, Y.M. and Tsi, C.K. (2006) A Unified Approach to the Design of PWM-Based Sliding-Mode Voltage Controllers for Basic DC-DC Converters in Continuous Conduction Mode. IEEE Transactions on Circuits and Systems, 53, 1816-1826.
http://dx.doi.org/10.1109/TCSI.2006.879052

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