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![Cover for Isabelle Fantoni · Non-linear Control for Underactuated Mechanical Systems - Communications and Control Engineering (Paperback Book) [Softcover reprint of the original 1st ed. 2002 edition] (2012)](https://imusic.b-cdn.net/images/item/original/866/9781447110866.jpg?isabelle-fantoni-2012-non-linear-control-for-underactuated-mechanical-systems-communications-and-control-engineering-paperback-book&class=scaled&v=1398975804)