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Woolsey, Craig and Reddy, Chevva Konda and Bloch, Anthony M. et al. (2004) Controlled Lagrangian systems with gyroscopic forcing and dissipation. European Journal of Control, 10 (5). pp. 478-496. ISSN 0947-3580. https://resolver.caltech.edu/CaltechAUTHORS:WOOejc04

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