@article{necessaryandsufficientconditionstothe,
  title = {Input-Output Extension of Underactuated Nonlinear Systems},
  author = {Mirko Mizzoni and Amr Afifi and Antonio Franchi},
  year = {2024},
  eprint = {2403.03117},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2403.03117v2},
}