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MR2336892 37D40 (37J05 53D25)
Agrachev, A. A. Curvature and hyperbolicity of Hamiltonian systems. (Russian) Tr. Mat. Inst. Steklova 256 (2007), Din. Sist. i Optim., 31--53; translation in Proc. Steklov Inst. Math. 256 (2007), no. 1, 26–46 ISBN: 5-02-035604-2
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