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Decentralized feedback controllers for exponential stabilization of hybrid periodic orbits: Application to robotic walking

Kaveh Akbari Hamed, Robert D. Gregg. Decentralized feedback controllers for exponential stabilization of hybrid periodic orbits: Application to robotic walking. In 2016 American Control Conference, ACC 2016, Boston, MA, USA, July 6-8, 2016. pages 4793-4800, IEEE, 2016. [doi]

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