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L. Angel, J. M. Sebastian, R. Saltaren and R. Aracil, “Robot Tenis System Part II: Dynamics and Control,” Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference 2005, Seville, 12-15 December 2005, pp. 2030-2034.doi:10.1109/CDC.2005.1582459

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