Bullo, F. <br/><br/>
Geometric Control of Mechanical Systems: Modeling, Analysis, and Design for simple mechanical control systems 

 - New York  Springer Verlag  2005 
 - xxiv, 726p. 
 - Texts in Applied Mathematics no. 49 .
<br/><br/><label>ISBN: </label>978-0-387-22195-3