@article{ND_2013_9_1_a5,
     author = {Alexey V. Borisov and Alexander A. Kilin and Ivan S. Mamaev},
     title = {How to control the {Chaplygin} ball using rotors. {II}},
     journal = {Russian journal of nonlinear dynamics},
     pages = {59--76},
     publisher = {mathdoc},
     volume = {9},
     number = {1},
     year = {2013},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2013_9_1_a5/}
}