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Woolsey, C. A. and Bloch, A. M. and Leonard, N. E. et al. (2001) Physical Dissipation and the Method of Controlled Lagrangians. In: ECC '01 : proceedings. European Union Control Association , Porto, Portugal, pp. 2570-2575. http://resolver.caltech.edu/CaltechAUTHORS:20101005-151547749

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