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@ARTICLE{Rodriguez2016,
    author = {Rodriguez, Carlos and Normey-Rico, Julio E. and Guzm{\'{a}}n, Jose Luis and Berenguel Soria, Manuel},
     title = {On the filtered Smith predictor  with feedforward compensation},
   journal = {Journal of Process Control},
    volume = {41},
      year = {2016},
       doi = {10.1016/j.jprocont.2016.02.005},
     pages = {35--46}
}