Zhang, Chao; Shen, Dong: 'Zero-error convergence of iterative learning control based on uniform quantisation with encoding and decoding mechanism', IET Control Theory & Applications, 2018, 12, (14), p. 1907-1915, DOI: 10.1049/iet-cta.2017.0919
IET Digital Library, https://digital-library.theiet.org/;jsessionid=2duwgeuryq2ag.x-iet-live-01content/journals/10.1049/iet-cta.2017.0919