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Olfati-Saber, Reza (2001) Global stabilization of a flat underactuated system: the inertia wheel pendulum. In: Proceedings of the 40th IEEE Conference on Decision and Control, December 4-7, 2001, Hyatt Regency Grand Cypress, Orlando, Florida, USA. Vol.4. IEEE , Los Alamitos, CA, pp. 3764-3765. ISBN 0-7803-7061-9. http://resolver.caltech.edu/CaltechAUTHORS:OLFcdc01b

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