@misc{gehlhar2019control,
  title={Control of Separable Subsystems with Application to Prostheses},
  author={Gehlhar, Rachel and Reher, Jenna and Ames, Aaron D},
  howpublished ={arXiv preprint arXiv:1909.03102},
  year={2019},
  url = {http://ames.caltech.edu/gehlhar2019control.pdf}
}

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