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"Controlled Lagrangians and Stabilization of the Discrete Cart-Pendulum System."
Anthony M. Bloch et al. (2005)
- Anthony M. Bloch, Melvin Leok, Jerrold E. Marsden, Dmitry V. Zenkov:

Controlled Lagrangians and Stabilization of the Discrete Cart-Pendulum System. CDC/ECC 2005: 6579-6584

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