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@Article{hernandez:suárez:revista chilena d eautomatización:1991:a,
      AUTHOR = {Hern{\'a}ndez, J.L. and Su{\'a}rez, A.M.},
      TITLE = {Multivariable controller for robotic manipulator: design aspects.},
      YEAR = {1991},
      JOURNAL = {Revista chilena de automatizaci{\'o}n}
}