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    AUTOMATICA
    2000
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    Stabilization of relative equilibria for underactuated systems on Riemannian manifolds
    13 years 11 months ago
    Stabilization of relative equilibria for underactuated systems on Riemannian manifolds
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    This paper describes a systematic procedure to exponentially stabilize relative equilibria of mechanical systems. We review the notion of relative equilibria and their stability i...
    Francesco Bullo
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