@article{caccavale2013discrete-time,
	year         = 2013,
	author       = {Caccavale, Fabrizio and Marino, Alessandro and Muscio, Giuseppe and Pierri, Francesco},
	title        = {Discrete-Time Framework for Fault Diagnosis in Robotic Manipulators},
	journal      = {IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY},
	volume       = 21,
	doi          = {10.1109/TCST.2012.2212196},
	pages        = {1858--1873},
	number       = 5
}

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