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Bloch, Anthony M. and Leonard, Naomi Ehrich and Marsden, Jerrold E. (2000) Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem. IEEE Transactions on Automatic Control, 45 (12). pp. 2253-2270. ISSN 0018-9286. doi:10.1109/9.895562.

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