Partial feedback linearization of underactuated mechanical systems. Spong, M. W. In Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., pages 314–321, 1994.
bibtex   
@InProceedings{SCC.Spong1994,
  author    = {Spong, M. W.},
  title     = {Partial feedback linearization of underactuated mechanical systems},
  booktitle = {Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst.},
  year      = {1994},
  pages     = {314--321},
  owner     = {Ashwin Dani},
  timestamp = {2010.04.30},
}
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