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Chang, Dong Eui and Marsden, Jerrold E. (2004) Reduction of Controlled Lagrangian and Hamiltonian Systems with Symmetry. SIAM Journal on Control and Optimization, 43 (1). pp. 277-300. ISSN 0363-0129. http://resolver.caltech.edu/CaltechAUTHORS:CHAsiamjco04

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