@CONFERENCE{TL96cdc,
  author = {Tsiotras, P. and Luo, J.},
  title = {A reduced-effort control law for underactuated rigid bodies},
  booktitle = {Proceedings of the 35th Conference on Decision and Control},
  year = {1996},
  pages = {495--496},
  month = {Dec. 11-13},
  note = {Kobe, Japan}
}