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]
@inproceedings{PosaTT13,
title = {Lyapunov analysis of rigid body systems with impacts and friction via sums-of-squares},
author = {Michael Posa and Mark Tobenkin and Russ Tedrake},
year = {2013},
doi = {10.1145/2461328.2461340},
url = {http://doi.acm.org/10.1145/2461328.2461340},
researchr = {https://researchr.org/publication/PosaTT13},
cites = {0},
citedby = {0},
pages = {63-72},
booktitle = {Proceedings of the 16th international conference on Hybrid systems: computation and control, HSCC 2013, April 8-11, 2013, Philadelphia, PA, USA},
editor = {Calin Belta and Franjo Ivancic},
publisher = {ACM},
isbn = {978-1-4503-1567-8},
}