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R. Ortega, A. van der Schaft, B. Maschke, et al., “Interconnection and Damping Assign-ment Passivity-based Control of Port-controlled Hamiltonian System,” Automatica, Vol. 38, No. 4, 2002, pp. 585-596. doi:10.1016/S0005-1098(01)00278-3

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