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Olfati-Saber, Reza (2002) Global configuration stabilization for the VTOL aircraft with strong input coupling. IEEE Transactions on Automatic Control, 47 (11). pp. 1949-1952. ISSN 0018-9286. doi:10.1109/TAC.2002.804457. https://resolver.caltech.edu/CaltechAUTHORS:OLFieeetac02b

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