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D. R. Yoerger
,
von Alt, C. J.
,
Bowen, A. D.
, and
Newman, J. B.
,
“
Design of underwater vehicles for high performance control
”
, in
Oceans '86 Conference Record
, vol. 5, New York, N.Y.: IEEE, 1986, pp. 1431–1437.
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