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Submitted on: 26 February 2013.
Revised on: 21 March 2013.
Accepted on: 17 May 2013.
___________________IEEE Transactions on Automation Science and Engineering
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Submitted on: 11 November 2013.
Revised on: 18 December 2013.
Accepted on: 06 January 2014.
___________________IEEE Transactions on Automation Science and Engineering
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