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Adaptive control of nonlinear systems with a triangular structure., , and . IEEE Trans. Autom. Control., 39 (7): 1411-1428 (1994)Independent control of two PM motors using a single inverter: application to elevator doors., , , , and . ACC, page 3093-3098. IEEE, (2002)On task schedulability in real-time control systems., , , and . RTSS, page 13-21. IEEE Computer Society, (1996)Trade-Off Analysis of Real-Time Control Performance and Schedulability., , , and . Real Time Syst., 21 (3): 199-217 (2001)A Distributed Real Time Coordination Protocol., and . IPDPS Workshops, volume 1800 of Lecture Notes in Computer Science, page 671-677. Springer, (2000)Control problems in super-articulated mechanical systems., and . IEEE Trans. Autom. Control., 39 (12): 2442-2453 (1994)Task Period Selection and Schedulability in Real-Time Systems., , and . RTSS, page 188-198. IEEE Computer Society, (1998)