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[Your name] recommends the following article of Control, Optimisation and Calculus of Variations to you.

Title: The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems
Author(s): Dong Eui Chang, Anthony M. Bloch, Naomi E. Leonard, Jerrold E. Marsden, and Craig A. Woolsey
http://www.esaim-cocv.org/10.1051/cocv:2002045

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