Reza Olfati-Saber. Normal forms for underactuated mechanical systems with symmetry. IEEE Trans. Automat. Contr., 47(2):305-308, 2002. [doi]
@article{Olfati-Saber02,
title = {Normal forms for underactuated mechanical systems with symmetry},
author = {Reza Olfati-Saber},
year = {2002},
doi = {10.1109/9.983365},
url = {http://dx.doi.org/10.1109/9.983365},
researchr = {https://researchr.org/publication/Olfati-Saber02},
cites = {0},
citedby = {0},
journal = {IEEE Trans. Automat. Contr.},
volume = {47},
number = {2},
pages = {305-308},
}