@article{COCV_2002__8__393_0,
     author = {Chang, Dong Eui and Bloch, Anthony M. and Leonard, Naomi E. and Marsden, Jerrold E. and Woolsey, Craig A.},
     title = {The equivalence of controlled lagrangian and controlled hamiltonian systems},
     journal = {ESAIM: Control, Optimisation and Calculus of Variations},
     pages = {393--422},
     publisher = {EDP-Sciences},
     volume = {8},
     year = {2002},
     doi = {10.1051/cocv:2002045},
     mrnumber = {1932957},
     zbl = {1070.70013},
     language = {en},
     url = {http://archive.numdam.org/articles/10.1051/cocv:2002045/}
}