@article {69,
	title = {Passivity-based Control for Hybrid Systems with Applications to Mechanical Systems Exhibiting Impacts},
	journal = {Automatica},
	volume = {49},
	number = {5},
	year = {2013},
	month = {May},
	pages = {1104{\textendash}1116},
	keywords = {hybrid systems},
	url = {https://hybrid.soe.ucsc.edu/files/preprints/69.pdf},
	author = {R. Naldi and R. G. Sanfelice}
}
