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Olfati-Saber, Reza (2001) Nonlinear control and reduction of underactuated systems with symmetry III. Input coupling case. In: Proceedings of the 40th IEEE Conference on Decision and Control, December 4-7, 2001, Hyatt Regency Grand Cypress, Orlando, Florida, USA. Vol.4. IEEE , Los Alamitos, CA, pp. 3778-3783. ISBN 0-7803-7061-9. http://resolver.caltech.edu/CaltechAUTHORS:OLFcdc01a

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