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洋書 Global Formulations of Lagrangian xxx 洋書 Global。洋書 Global Formulations of Lagrangian xxx Global。Differential Equations with Boundary-Value Problems by。PDF) New Lagrangian Relaxation Approach for the Discrete。Global Formulation of Lagrangian and Hamiltonian Dynamics on Manifolds, Taeyoung Lee, Melvin Leok, N. Harris McClamroch