Non-uniform multi-rate estimator based periodic event-triggered control for resource saving. Cuenca, Á., Zheng, M., Tomizuka, M., & Sánchez, S. Information Sciences, 459:86–102, Elsevier, 2018.
bibtex   
@article{cuenca2018non,
  title={Non-uniform multi-rate estimator based periodic event-triggered control for resource saving},
  author={Cuenca, {\'A}ngel and Zheng, Minghui and Tomizuka, Masayoshi and S{\'a}nchez, Sergio},
  journal={Information Sciences},
  volume={459},
  pages={86--102},
  year={2018},
  publisher={Elsevier}
}

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