Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 - Allgüwer, F.; Bullo, Francesco; Fleming, P.; Fujimoto, Kenji; Kokotovic, P.; Kurzhanski, A.B; Kwakernaak, H.; Morari, M.; Rantzer, A.; Tsitsiklis, J.N (Springer Berlin Heidelberg, 2007)