@InProceedings{brockett03light,
  author = 	 {Roger W. Brockett and Hongyi Li},
  title = 	 {A Light Weight Rotary Double Pendulum: Maximizing the Domain of Attraction},
  booktitle = 	 {Proc.\ 42nd IEEE Conf.\ Dec.\ and Control},
  pages = 	 {3299--3304},
  year = 	 {2003},
  address = 	 {Maui, HI},
  month = 	 {Dec.}
}