Controlled Lagrangian systems with gyroscopic forcing and dissipation
Woolsey, C[Woolsey, C], Reddy, CK[Reddy, CK], Bloch, AM[Bloch, AM], Chang, DE[Chang, Dong Eui], Leonard, NE[Leonard, NE], Marsden, JE[Marsden, JE]
EUROPEAN JOURNAL OF CONTROL, 2004