Ohta, Y.2022-03-022022-03-022015978-1-4799-7884-7978-1-4799-7886-11-4799-7884-11-4799-7887-6978-1-4799-7887-8https://publica.fraunhofer.de/handle/publica/15893454th IEEE Conference on Decision and Control, CDC 2015. Proceedings