Energy-based balance control approach to the ball and beam system

@article{Li2009EnergybasedBC,
  title={Energy-based balance control approach to the ball and beam system},
  author={En Li and Zi-ze Liang and Zeng-Guang Hou and Min Tan},
  journal={Int. J. Control},
  year={2009},
  volume={82},
  pages={981-992}
}
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