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Fliess, M. Réalisation locale des systèmes non linéaires, algèbres de Lie filtrées transitives et séries génératrices non commutatives. Invent Math 71, 521–537 (1983). https://doi.org/10.1007/BF02095991
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DOI: https://doi.org/10.1007/BF02095991