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Untitled, and . Phys. Rev. B, (1994)Untitled, and . Phys. Rev. Lett., (1988)EV Traction Control Based on Nonlinear Observers Considering Longitudinal and Lateral Tire Forces., , and . IEEE Trans. Intell. Transp. Syst., 19 (8): 2558-2571 (2018)