Geodesic
The decomposition principle in the control of mechanical systems
Doklady Akademii Nauk, Tome 300 (1988) no. 2, pp. 300-303

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     author = {E. S. Pyatnitskii},
     title = {The decomposition principle in the control of mechanical systems},
     journal = {Doklady Akademii Nauk},
     pages = {300--303},
     publisher = {mathdoc},
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     number = {2},
     year = {1988},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DAN_1988_300_2_a9/}
}
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E. S. Pyatnitskii. The decomposition principle in the control of mechanical systems. Doklady Akademii Nauk, Tome 300 (1988) no. 2, pp. 300-303. http://geodesic.mathdoc.fr/item/DAN_1988_300_2_a9/