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Woolsey, C. A. and Bloch, A. M. and Leonard, N. E. et al. (2001) Dissipation and Controlled Euler-Poincaré Systems. In: Proceedings of the 40th IEEE Conference on Decision and Control, 2001. Vol.4. IEEE , Piscataway, NJ, pp. 3378-3383. ISBN 0780370619 . http://resolver.caltech.edu/CaltechAUTHORS:20101025-103909189

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