@inproceedings{kolathaya2014exponential,
  title={Exponential convergence of a unified {CLF} controller for robotic systems under parameter uncertainty},
  author={Kolathaya, Shishir and Ames, Aaron D},
  booktitle={American Control Conference (ACC), 2014},
  pages={3710--3715},
  year={2014},
  organization={IEEE},
  url = {http://ames.caltech.edu/sysid_ACC2014.pdf}
}

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