Anton S. Shiriaev, Leonid B. Freidovich, Sergei V. Gusev. Transverse linearization for mechanical systems with several passive degrees of freedom with applications to orbital stabilization. In American Control Conference, ACC 2009. St. Louis, Missouri, USA, June 10-12, 2009. pages 3039-3044, IEEE, 2009. [doi]
Abstract is missing.