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Hi, I wanted to tell you about the book: Lagrangian and Hamiltonian Methods for Nonlinear Control 2000 by Romeo Ortega, Naomi Ehrich Leonard & Ricardo Ortega-Santiago. http://www.boeklezers.com/boeken/Lagrangian+and+Hamiltonian+Methods+for+Nonlinear+Control+2000/9780080436586 Kind regards,
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