@article{constructivenonlinearcontrolof,
  title = {Constructive Nonlinear Control of Underactuated Systems via Zero Dynamics Policies},
  author = {William Compton and Ivan Dario Jimenez Rodriguez and Noel Csomay-Shanklin and Yisong Yue and Aaron D. Ames},
  year = {2024},
  eprint = {2408.14749},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2408.14749v1},
}