Constraint Violation Stabilization Using Input-Output Feedback Linearization in Multibody Dynamic Analysis. Chiou, J. C. & Wu, S. D. Journal of Guidance, Control, and Dynamics, 21(2):222–228, 1998.
Constraint Violation Stabilization Using Input-Output Feedback Linearization in Multibody Dynamic Analysis [link]Paper  doi  bibtex   
@article{chiou_constraint_1998,
	title = {Constraint {Violation} {Stabilization} {Using} {Input}-{Output} {Feedback} {Linearization} in {Multibody} {Dynamic} {Analysis}},
	volume = {21},
	issn = {0731-5090},
	url = {http://dx.doi.org/10.2514/2.4246},
	doi = {10.2514/2.4246},
	number = {2},
	urldate = {2017-04-23TZ},
	journal = {Journal of Guidance, Control, and Dynamics},
	author = {Chiou, J. C. and Wu, S. D.},
	year = {1998},
	pages = {222--228}
}
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