Group theoretical approach in using canonical transformations and symplectic geometry in the control of approximately modelled mechanical systems interacting with an unmodelled environment - researchr publication

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József K. Tar, Imre J. Rudas, János F. Bitó. Group theoretical approach in using canonical transformations and symplectic geometry in the control of approximately modelled mechanical systems interacting with an unmodelled environment. Robotica, 15(2):163-179, 1997. [doi]

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