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Atherton, M. A. and Bates, R. A. (2000) Bond graph analysis in robust engineering design. Quality and Reliability Engineering International, 16 (4). pp. 325-335. doi:10.1002/1099-1638(200007/08)16:4<325::AID-QRE435>3.0.CO;2-K ISSN 0748-8017.