Nonlinear dynamical control systems. Nijmeijer, H. and der Schaft, A. V. Springer, 1990.
bibtex   
@book{ nijmeijer_nonlinear_1990,
  title = {Nonlinear dynamical control systems},
  publisher = {Springer},
  author = {Nijmeijer, Henk and Van der Schaft, Arjan},
  year = {1990}
}
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