Asymptotic Stabilization of Submanifolds Embedded in Riemannian Manifolds. Montenbruck, J. M. & Allgöwer, F. Automatica, 74:349–359, 2016.
bibtex   
@ARTICLE{ist:montenbruck16f,
  author = {Montenbruck, J. M. and Allg{\"o}wer, F.},
  title = {Asymptotic Stabilization of Submanifolds Embedded in {R}iemannian
	Manifolds},
  journal = {Automatica},
  year = {2016},
  volume = {74},
  pages = {349--359}
}
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