@article{anovelpassivitybasedtrajectorytracking,
  title = {A Novel Passivity-Based Trajectory Tracking Control For Conservative Mechanical Systems},
  author = {Robert Mahony},
  year = {2021},
  eprint = {2107.13761},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2107.13761v1},
}