On the stability of constrained mechanical systems. Franco, P. D., Scarciotti, G., & Astolfi, A. In CDC, pages 3170–3174, 2017. IEEE.
bibtex   
@inproceedings{DBLP:conf/cdc/FrancoSA17,
  author    = {Pierluigi Di Franco and
               Giordano Scarciotti and
               Alessandro Astolfi},
  title     = {On the stability of constrained mechanical systems},
  booktitle = {{CDC}},
  pages     = {3170--3174},
  publisher = {{IEEE}},
  year      = {2017}
}

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