@article{Franco_2025,
  title={{Integral Controlled Lagrangians for underactuated mechanical systems subject to matched and unmatched disturbances}},
  volume={362},
  ISSN={0016-0032},
  DOI={10.1016/j.jfranklin.2025.108205},
  number={18},
  journal={Journal of the Franklin Institute},
  publisher={Elsevier BV},
  author={Franco, Enrico},
  year={2025},
  pages={108205}
}