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Zenkov, Dmitry V. and Bloch, Anthony M. and Marsden, Jerrold E. (1998) The energy–momentum method for the stability of non-holonomic systems. Dynamics and Stability of Systems, 13 (2). pp. 123-166. ISSN 1465-3389. http://resolver.caltech.edu/CaltechAUTHORS:20100923-085233667

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