This is a pre-copyedited version of a contribution published in Kovacic I., Lenci S. (eds) IUTAM Symposium on Exploiting Nonlinear Dynamics for Engineering Systems. ENOLIDES 2018. IUTAM Bookseries, vol 37 published by Springer. The definitive authenticated version is available online via https://doi.org/10.1007/978-3-030-23692-2_21
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