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Long, D. A. and Bloch, A. M. and Marsden, J. E. et al. (2008) Relaxed matching for stabilization of relative equilibria of mechanical systems. In: Proceedings of the 18th International Symposium on Mathematical Theory of Networks and Systems. , Blacksburg, VA, pp. 1-12. http://resolver.caltech.edu/CaltechAUTHORS:20101006-100038652