@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/} }