Yang Wang 0063 Gilberto Pin Andrea Serrani Thomas Parisini Removing SPR-Like Conditions in Adaptive Feedforward Control of Uncertain Systems. 2309-2324 2020 65 IEEE Trans. Autom. Control. 6 https://doi.org/10.1109/TAC.2019.2934394 db/journals/tac/tac65.html#WangPSP20