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   title = {Experimental Comparison of Observers for Tool Position Estimation of Industrial Robots},
   author = {Norrl{\"o}f, Mikael and Henriksson, Robert and Moberg, Stig and Wernholt, Erik and Sch{\"o}n, Thomas},
   booktitle = {Proceedings of the 48th IEEE Conference on Decision and Control},
   pages = {8065--8070},
   year = {2009}

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