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Vela, Patricio A. and Morgansen, Kristi A. and Burdick, Joel W. (2002) Second Order Averaging Methods for Oscillatory Control of Underactuated Mechanical Systems. In: Proceedings of the 2002 American Control Conference. Proceedings of the American Control Conference. IEEE , Piscataway, NJ, pp. 4672-4677. ISBN 0-7803-7298-0 http://resolver.caltech.edu/CaltechAUTHORS:20111109-095911351

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