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![Cover for Vincent Duindam · Modeling and Control of Complex Physical Systems: The Port-Hamiltonian Approach (Paperback Book) [2009 edition] (2014)](https://imusic.b-cdn.net/images/item/original/757/9783642420757.jpg?vincent-duindam-2014-modeling-and-control-of-complex-physical-systems-the-port-hamiltonian-approach-paperback-book&class=scaled&v=1550688765)
![Cover for Vincent Duindam · Modeling and Control for Efficient Bipedal Walking Robots: A Port-Based Approach - Springer Tracts in Advanced Robotics (Paperback Book) [Softcover reprint of hardcover 1st ed. 2009 edition] (2010)](https://imusic.b-cdn.net/images/item/original/611/9783642100611.jpg?vincent-duindam-2010-modeling-and-control-for-efficient-bipedal-walking-robots-a-port-based-approach-springer-tracts-in-advanced-robotics-paperback-book&class=scaled&v=1408473892)
![Cover for Vincent Duindam · Modeling and Control of Complex Physical Systems: The Port-Hamiltonian Approach (Hardcover Book) [2009 edition] (2009)](https://imusic.b-cdn.net/images/item/original/953/9783642031953.jpg?vincent-duindam-2009-modeling-and-control-of-complex-physical-systems-the-port-hamiltonian-approach-hardcover-book&class=scaled&v=1412257142)
![Cover for Vincent Duindam · Modeling and Control for Efficient Bipedal Walking Robots: A Port-Based Approach - Springer Tracts in Advanced Robotics (Hardcover Book) [2009 edition] (2009)](https://imusic.b-cdn.net/images/item/original/174/9783540899174.jpg?vincent-duindam-2009-modeling-and-control-for-efficient-bipedal-walking-robots-a-port-based-approach-springer-tracts-in-advanced-robotics-hardcover-book&class=scaled&v=1605101053)