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3. S. Ozana, M. Pies, R. Hajovsky, and J. Haska, “Design and implementation of lqr controller for ball on spool educational model with rex control system,” in 2014 the 4th International Workshop on Computer Science and Engineering - Summer, WCSE 2014 (2014).
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5. Function blocks manual (2015), www.rexcontrols.com/media/DOC/ENGLISH/BRef_ENG.pdf.