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Globally convergent adaptive tracking of angular velocity and inertia identification for a 3-DOF rigid body

Nalin A. Chaturvedi, Dennis S. Bernstein, Jasim Ahmed, Fabio Bacconi, N. Harris McClamroch. Globally convergent adaptive tracking of angular velocity and inertia identification for a 3-DOF rigid body. IEEE Trans. Contr. Sys. Techn., 14(5):841-853, 2006. [doi]

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