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Ortega, R., van der Schaft, A.J., Maschke, B.M. and Escobar, G. (2002) Interconnection and Damping Assignment Passivity-Based Control of Port-Controlled Hamiltonian Systems. Automatica, 38, 585-596. http://dx.doi.org/10.1016/S0005-1098(01)00278-3

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