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Getz, Neil H. and Marsden, Jerrold E. (1995) Dynamic inversion and polar decomposition of matrices. In: IEEE Conference on Decision and Control, 34th (CDC 1995). New Orleans, LA, 13-15 December 1995. Vol.1. IEEE , Piscataway, NJ, pp. 142-147. ISBN 0-7803-2685-7 http://resolver.caltech.edu/CaltechAUTHORS:GETicdc95a

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