Geodesic
Linearization of nonholonomic systems at equilibrium points.
Rendiconti del seminario matematico, Tome 57 (1999) no. 3, pp. 185-195.

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Keywords: approximation, normal form, holonomic system, stability, instability, isolated equilibria 
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     author = {De Marco, G.},
     title = {Linearization of nonholonomic systems at equilibrium points.},
     journal = {Rendiconti del seminario matematico},
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     language = {en},
     url = {http://geodesic.mathdoc.fr/item/RSM_1999__57_3_126555/}
}
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De Marco, G. Linearization of nonholonomic systems at equilibrium points.. Rendiconti del seminario matematico, Tome 57 (1999) no. 3, pp. 185-195. http://geodesic.mathdoc.fr/item/RSM_1999__57_3_126555/