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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 (3). pp. 123-165. ISSN 0268-1110 . http://resolver.caltech.edu/CaltechAUTHORS:20101026-090010743

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