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Getz, Neil H. and Marsden, Jerrold E. (1995) A dynamic inverse for nonlinear maps. In: IEEE Conference on Decision and Control, 34th (CDC '95), New Orleans, LA, 13-15 December 1995. Vol.4. IEEE , Piscataway, NJ, pp. 4218-4223. ISBN 0-7803-2685-7. http://resolver.caltech.edu/CaltechAUTHORS:GETcdc95c

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