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Bloch, A. M. and Krishnaprasad, P. S. and Marsden, J. E. et al. (1991) Asymptotic Stability, Instability and Stabilization of Relative Equilibria. In: Proceedings of the 1991 American Control Conference. IEEE , Piscataway, NJ, pp. 1120-1125. ISBN 0879425652. http://resolver.caltech.edu/CaltechAUTHORS:20101012-083137228

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