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Antoine Girard, Samuel Martin. Motion planning for nonlinear systems using hybridizations and robust controllers on simplices. In Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008, December 9-11, 2008, Cancún, México. pages 239-244, IEEE, 2008. [doi]

The following publications are possibly variants of this publication:

Synthesis for Constrained Nonlinear Systems Using Hybridization and Robust Controllers on SimplicesAntoine Girard, Samuel Martin. tac, 57(4):1046-1051, 2012. [doi]

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