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Bloch, Anthony M. and Leonard, Naomi Ehrich and Chang, Dong Eui et al. (2000) Potential and kinetic shaping for control of underactuated mechanical systems. In: Proceedings of the 2000 American Control Conference. Proceedings of the American Control Conference. IEEE , Piscataway, NJ, pp. 3913-3917. ISBN 0-7803-5520-2. http://resolver.caltech.edu/CaltechAUTHORS:20101005-131039606

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