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Differential-geometric normal forms and structure-preserving control of single-input underactuated Euler–Lagrange systems under disturbances

Crossref DOI link: https://doi.org/10.1007/s40435-026-02014-3

Published Online: 2026-02-17

Published Print: 2026-03

Update policy: https://doi.org/10.1007/springer_crossmark_policy

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