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Ortega, R., van der Schaft, A.J., Castaños, F. and Astolfi, A. (2008) Control by Interconnection and Standard Passivity-Based Control of Port-Hamiltonian Systems. IEEE Transactions on Automatic Control, 53, 2527-2542. http://dx.doi.org/10.1109/TAC.2008.2006930

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