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Bloch, A. M. and Marsden, J. E. (1989) Control and stabilization of systems with homoclinic orbits. In: Proceedings of the 28th Conference on Decision and Control Tampa, Florida, 13-15 December 1989. Vol.3. IEEE , Piscataway, NJ, pp. 2238-2242. https://resolver.caltech.edu/CaltechAUTHORS:BLOieeecdc89

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