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  author = 	 {Henriksson, Robert and Norrlöf, Mikael and Moberg, Stig and
                  Wernholt, Erik and Sch\"{o}n, Thomas B.},
  title = 	 {Experimental Comparison of Observers for Tool
                  Position Estimation of Industrial Robots},
  booktitle =    {Proceedings of the 48th IEEE Conference on Decision
                  and Control ({CDC})},
  year = 	 {2009},
  address = 	 {Shanghai, China},
  month = 	 dec,
  url = 	 {http://www.rt.isy.liu.se/~schon/Publications/HenrikssonNMWS.pdf},