Exponential stabilization of nonlinear driftless systems with robustness to unmodeled dynamics
ESAIM: Control, Optimisation and Calculus of Variations, Tome 4 (1999), pp. 1-35 
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     author = {Morin, Pascal and Samson, Claude},
     title = {Exponential stabilization of nonlinear driftless systems with robustness to unmodeled dynamics},
     journal = {ESAIM: Control, Optimisation and Calculus of Variations},
     pages = {1--35},
     year = {1999},
     publisher = {EDP Sciences},
     volume = {4},
     mrnumber = {1680693},
     zbl = {0919.93059},
     language = {en},
     url = {https://www.numdam.org/item/COCV_1999__4__1_0/}
}
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Morin, Pascal; Samson, Claude. Exponential stabilization of nonlinear driftless systems with robustness to unmodeled dynamics. ESAIM: Control, Optimisation and Calculus of Variations, Tome 4 (1999), pp. 1-35. https://www.numdam.org/item/COCV_1999__4__1_0/

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