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M'Closkey, Robert T. and Murray, Ruchard M. (1997) Exponential stabilization of driftless nonlinear control systems using homogeneous feedback. IEEE Transactions on Automatic Control, 42 (5). pp. 614-628. ISSN 0018-9286. http://resolver.caltech.edu/CaltechAUTHORS:MCLieeetac97

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