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MR1375909 (96j:93048) 93C85 (70F25 70Q05 93B52)
Kolmanovsky, Ilya; Reyhanoglu, Mahmut; McClamroch, N. Harris Switched mode feedback control laws for nonholonomic systems in extended power form. Systems Control Lett. 27 (1996), no. 1, 29–36.
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