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Olfati-Saber, Reza (2001) Nonlinear control and reduction of underactuated systems with symmetry. II. Unactuated shape variables case. In: Proceedings of the 40th IEEE Conference on Decision and Control, December 4-7, 2001, Hyatt Regency Grand Cypress, Orlando, Florida, USA. Vol.5. IEEE , Los Alamitos, CA, pp. 4164-4169. ISBN 0-7803-7061-9.

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