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Bloch, Anthony M. and Leonard, Naomi Ehrich and Marsden, Jerrold E. (1998) Matching and stabilization by the method of controlled Lagrangians. In: Proceedings of the 37th IEEE Conference on Decision and Control, 1998. Vol.2. Institute of Electrical and Electronics Engineers , Piscataway, NJ, pp. 1446-1451. ISBN 0-7803-4394-8. http://resolver.caltech.edu/CaltechAUTHORS:BLOieeecdc98a

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