Bullo, Francesco <br/><br/>
Geometric control of mechanical systems :  modeling, analysis, and design for simple mechanical control systems / 
Francesco Bullo, Andrew D. Lewis 
 - New York :  Springer,  2005 
 - xxiv, 726 p. :  ill. ;  24 cm. 
 - Texts in applied mathematics; 49 .
<br/><br/> Includes index 
<br/><br/>Includes bibliographical references 
<br/><br/><label>ISBN: </label>0387221956 
<br/><br/><label>Subjects--Topical Terms: </label><br/>Automatic control<br/>Geometry, Differential