Improvements in direct Lyapunov stabilization of underactuated, mechanical systems. - Warren N. White; Mikil Foss; Jaspen Patenaude; Xin Guo; Deyka Garcia (ACC, 2008)

Direct Lyapunov approach for tracking control of underactuated mechanical systems. - Warren N. White; Jaspen Patenaude; Mikil Foss; Deyka Garcia (ACC, 2009)