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Marsden, J. E. and Ratiu, T. and Raugel, G. (1991) Symplectic connections and the linearisation of Hamiltonian systems. Proceedings of the Royal Society of Edinburgh: Section A Mathematics, 117 (3-4). pp. 329-380. ISSN 0308-2105. http://resolver.caltech.edu/CaltechAUTHORS:20100903-112241193

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