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Bloch, Anthony M. and Chang, Dong Eui and Leonard, Naomi Ehrich et al. (2001) Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping. IEEE Transactions on Automatic Control, 46 (10). pp. 1556-1571. ISSN 0018-9286. doi:10.1109/9.956051. https://resolver.caltech.edu/CaltechAUTHORS:BLOieeetac01

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