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2. Bortoff, S.A., Pseudolinearization using Spline Functions with Application to the Acrobot, Ph.D. Thesis, Dept. of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign, 1992.
3. Spong, M.W., “Modeling and Control of Elastic Joint Robots”, ASME J. Dyn. Systems, Mean. and Control, Vol. 109, pp. 310–319, December, 1987.
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5. Teel, A.R., “Using saturation to stabilize a class of single-input partially linear composite systems,” IFAC NOLCOS'92 Symposium, Bordeaux, June 1992. See also: “A Nonlinear Small Gain Theorem for the Analysis of Control Systems with Saturation,” IEEE Trans. on Automatic Control, submitted, 1994.