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@InProceedings{silerr06,
      AUTHOR = {Silva, E.I. and Erraz, D.A.},
      TITLE = {An LQR Based MIMO PID Controller Synthesis Method for Unconstrained Lagrangian Mechanical Systems},
      YEAR = {2006},
      BOOKTITLE = {Proceedings of the 45th IEEE Conference on Decision and Control},
      ADDRESS = {San Diego, USA}
}