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Olfati-Saber, Reza (2002) Normal forms for underactuated mechanical systems with symmetry. IEEE Transactions on Automatic Control, 47 (2). pp. 305-308. ISSN 0018-9286. doi:10.1109/9.983365. https://resolver.caltech.edu/CaltechAUTHORS:OLFieeetac02a

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