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Y. Fang, W. E. Dixon, D. M. Dawson and E. Zergeroglu, “Nonlinear Coupling Control Laws for an Underactuated Overhead Crane System,” IEEE/ASME Transactions on Mechatronics, Vol. 8, No. 3, 2003, pp. 418-423. doi:10.1109/TMECH.2003.816822

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