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

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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