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H. C. Liaw, B. Shirinzadeh and J. Smith, “Sliding-Mode Enhanced Adaptive Motion Tracking Control of Piezoelectric Actuation Systems for Micro/Nano Manipulation,” IEEE Transactions on Control Systems Technology, Vol. 16, No. 4, 2008, pp. 826-833. doi:10.1109/TCST.2007.916301

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