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T. A. Johansen, I. Petersen, J. Kalkkuhl and J. Ludemann, “Gain-Scheduled Wheel Slip Control in Automotive Brake Systems,” IEEE Transactions on Control Systems Technology, Vol. 11, No. 6, 2003, pp. 799-811.
http://dx.doi.org/10.1109/TCST.2003.815607

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