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B. Schmulling, R. Appunn and K. Hameyer, “Electromagnetic Guiding of Vertical Transportation Vehicles: State Control of an Over-Determined System,” 18th International Conference on Electrical Machines, Vilamoura, 6-9 September 2008, pp. 1-6. doi:10.1109/ICELMACH.2008.4800171

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