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Jalnapurkar, Sameer M. and Leok, Melvin and Marsden, Jerrold E. et al. (2006) Discrete Routh reduction. Journal of Physics A: Mathematical and General, 39 (19). pp. 5521-5544. ISSN 0305-4470. doi:10.1088/0305-4470/39/19/S12. https://resolver.caltech.edu/CaltechAUTHORS:JALjpa06

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