Stabilizing Submanifolds with Passive Input-Output Relations. Montenbruck, J. M.; Arcak, M.; and Allgöwer, F. In Proc.\ 54th IEEE Conf.\ Decision and Control (CDC), pages 4381-4387, Osaka, Japan, 2015.
bibtex   
@INPROCEEDINGS{ist:montenbruck15i,
  author = {Montenbruck, J. M. and Arcak, M. and Allg{\"o}wer, F.},
  title = {Stabilizing Submanifolds with Passive Input-Output Relations},
  booktitle = {Proc.\ 54th IEEE Conf.\ Decision and Control (CDC)},
  year = {2015},
  pages = {4381-4387},
  address = {Osaka, Japan}
}
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