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Zauner, C. et al. (2020). Trajectory Planning for a Segway Model exploiting Inherent Feedforward Structure1This work has been supported by the "LCM - K2 Center for Symbiotic Mechatronics" within the framework of the Austrian COMET-K2 program.. IFAC-PapersOnLine. 53 (2), pp. 8444-8449. [Online].