@article{caccavale2012discrete,
	title        = {Discrete-time framework for fault diagnosis in robotic manipulators},
	author       = {Caccavale, Fabrizio and Marino, Alessandro and Muscio, Giuseppe and Pierri, Francesco},
	year         = 2012,
	journal      = {IEEE Transactions on Control Systems Technology},
	publisher    = {IEEE},
	volume       = 21,
	number       = 5,
	pages        = {1858--1873}
}

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