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@ARTICLE{Rodriguez2016Robust,
    author = {Rodriguez, Carlos and Normey-Rico, Julio E. and Guzm{\'{a}}n, Jose Luis and Berenguel Soria, Manuel},
     title = {Robust design methodology  for simultaneous feedforward and feedback tuning},
   journal = {IET Control Theory and Applications},
    volume = {10},
    number = {1},
      year = {2016},
     pages = {84--94}
}