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MR1625775 93B40 (93-04 93B51 93C40)
Rios-Bolívar, E. Miguel; Zinober, Alan S. I. A symbolic computation toolbox for the design of dynamical adaptive nonlinear controllers. Adaptive learning and control using sliding modes. Appl. Math. Comput. Sci. 8 (1998), no. 1, 73–88.
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