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Ha, M. et al. (2020). Data-Based Nonaffine Optimal Tracking Control Using Iterative DHP Approach ⁎This work was supported in part by Beijing Natural Science Foundation under Grant JQ19013, and in part by the National Natural Science Foundation of China under Grant 61773373 and Grant 61533017.. IFAC-PapersOnLine. 53 (2), pp. 4246-4251. [Online].