@article{02217105,
title = {Linearization of nonholonomic systems at equilibrium points.},
journal = {Rendiconti del Seminario Matematico},
volume = {57},
year = {1999},
pages = {185-195},
zbl = {1098.37535},
language = {en},
url = {http://dml.mathdoc.fr/item/02217105}
}
De Marco, G. Linearization of nonholonomic systems at equilibrium points.. Rendiconti del Seminario Matematico, Tome 57 (1999) pp. 185-195. http://gdmltest.u-ga.fr/item/02217105/