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Morgansen, Kristi A. (2001) Controllability and Trajectory Tracking for Classes of Cascade-Form Second Order Nonholonomic Systems. In: Proceedings of the 40th IEEE Conference on Decision and Control. IEEE Conference on Decision and Control . IEEE , Piscataway, N.J., pp. 3031-3036. ISBN 0-7803-7061-9 http://resolver.caltech.edu/CaltechAUTHORS:20111118-113002349

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