Michael Posa, Mark Tobenkin, Russ Tedrake. Lyapunov analysis of rigid body systems with impacts and friction via sums-of-squares. In Calin Belta, Franjo Ivancic, editors, Proceedings of the 16th international conference on Hybrid systems: computation and control, HSCC 2013, April 8-11, 2013, Philadelphia, PA, USA. pages 63-72, ACM, 2013. [doi]
Abstract is missing.