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Glavaški, Sonja and Marsden, Jerrold E. and Murray, Richard M. (1998) Model reduction, centering, and the Karhunen-Loeve expansion. In: IEEE Conference on Decision and Control, 37th (CDC 1998), Tampa, FL, 16-18 December 1998. Vol.2. IEEE , Piscataway, NJ, pp. 2071-2076. ISBN 0-7803-4394-8. http://resolver.caltech.edu/CaltechAUTHORS:GLAcdc98

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