Ferguson, Joel ; Donaire, Alejandro ; Middleton, Richard, H 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2021. Proceedings of the 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNC) (Berlin 11-13 October, 2021) p. 131-136.
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