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Bloch, Anthony M. and Leonard, Naomi Ehrich and Marsden, J. J. (1999) Potential shaping and the method of controlled Lagrangians. In: Proceedings of the 38th IEEE Conference on Decision and Control, 1999. Vol.2. Institute of Electrical and Electronics Engineers , Piscataway, NJ, pp. 1652-1657. ISBN 0-7803-5250-5. http://resolver.caltech.edu/CaltechAUTHORS:BLOieeecdc99

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