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Jalnapurkar, Sameer M. and Marsden, Jerrold E. (2000) Stabilization of relative equilibria. IEEE Transactions on Automatic Control, 45 (8). pp. 1483-1491. ISSN 0018-9286. doi:10.1109/9.871756. https://resolver.caltech.edu/CaltechAUTHORS:JALieeetac00

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