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![Cover for Romeo Ortega · Passivity-based Control of Euler-Lagrange Systems: Mechanical, Electrical and Electromechanical Applications - Communications and Control Engineering (Paperback Book) [Softcover reprint of the original 1st ed. 1998 edition] (2010)](https://imusic.b-cdn.net/images/item/original/522/9781849968522.jpg?romeo-ortega-2010-passivity-based-control-of-euler-lagrange-systems-mechanical-electrical-and-electromechanical-applications-communications-and-control-engineering-paperback-book&class=scaled&v=1408609811)
![Cover for Romeo Ortega · Passivity-based Control of Euler-Lagrange Systems: Mechanical, Electrical and Electromechanical Applications - Communications and Control Engineering (Hardcover Book) [1998 edition] (1998)](https://imusic.b-cdn.net/images/item/original/163/9781852330163.jpg?romeo-ortega-1998-passivity-based-control-of-euler-lagrange-systems-mechanical-electrical-and-electromechanical-applications-communications-and-control-engineering-hardcover-book&class=scaled&v=1408619726)