@article{LeLeMc2009c,
	Author = {T. Lee and M. Leok and {N. H.} McClamroch},
	Journal = {Proc. IEEE Conf. on Decision and Control},
	Title = {Dynamics of a {3D} Elastic String Pendulum},
	pages={3347--3352},
	Year = {2009},
	doi={10.1109/CDC.2009.5399611},
}