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Bloch, Anthony M. and Leonard, Naomi Ehrich and Marsden, Jerrold E. (1997) Stabilization of mechanical systems using controlled Lagrangians. In: IEEE Conference on Decision and Control, 36th, San Diego, CA, 10-12 December 1997. Vol.3. IEEE , Piscataway, NJ, pp. 2356-2361. ISBN 0-7803-4187-2 http://resolver.caltech.edu/CaltechAUTHORS:BLOcdc97

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