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MR1311076 (95i:93097) 93C85 (34A09 34H05 70B15 70Q05 93C10)
Krishnan, Hariharan; McClamroch, N. Harris Tracking in nonlinear differential-algebraic control systems with applications to constrained robot systems. Automatica J. IFAC 30 (1994), no. 12, 1885–1897.
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