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Dellnitz, Michael and Marsden, Jerrold E. and Melbourne, Ian et al. (1992) Generic Bifurcations of Pendula. In: Bifurcation and Symmetry: Cross Influence Between Mathematics and Applications. International Series of Numerical Mathematics. Vol.104. Birkhauser Verlag , Marburg, Germany, pp. 111-122. ISBN 978-3-7643-2739-2 http://resolver.caltech.edu/CaltechAUTHORS:20100802-075022129

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