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W. T. Ang, P. K. Khosla and C. N. Riviere, “Feedforward Controller with Inverse Rate-Dependent Model for Piezoelectric Actuators in Trajectory-Tracking Applications,” IEEE/ASME Transactions on Mechatronics, Vol. 12, No. 2, 2007, pp. 134-142. doi:10.1109/TMECH.2007.892824

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