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Lewis, Andrew D. and Murray, Richard M. (1997) Configuration Controllability of Simple Mechanical Control Systems. SIAM Journal on Control and Optimization, 35 (3). pp. 766-790. ISSN 0363-0129. doi:10.1137/S0363012995287155. https://resolver.caltech.edu/CaltechAUTHORS:LEWsiamjco97

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