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Salt J, Sala A., Albertos P.  2011.  A Transfer-Function Approach to Dual-Rate Controller Design for Unstable and Non-Minimum-Phase Plants. Control Systems Technology, IEEE Transactions onControl Systems Technology, IEEE Transactions on. 19(5):1186-1194.
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Cuenca A, Salt J, Sala A., Piza R.  2011.  A Delay-Dependent Dual-Rate PID Controller Over an Ethernet Network. Industrial Informatics, IEEE Transactions onIndustrial Informatics, IEEE Transactions on. 7(1):18-29.