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URL : https://hal.archives-ouvertes.fr/hal-00632977
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Dumur are with SUPELEC Systems Sciences (E3S) -Automatic Control Department, 3 rue Joliot Curie, F-91192, Gif-sur-Yvette cedex, France (email:{vutuanhieu.le; cristina.stoica;didier.dumur}@supelec.fr ? T. Alamo and E.F. Camacho are with Department of Ingeniería de Sistemas y Automática ,