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Chang, Dong Eui and Bloch, Anthony M. and Leonard, Naomi E. et al. (2002) The equivalence of controlled Lagrangian and controlled Hamiltonian systems. ESAIM: Control, Optimisation and Calculus of Variations, 8 (Specia). pp. 393-422. ISSN 1262-3377. http://resolver.caltech.edu/CaltechAUTHORS:20100727-152201641

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