@conference {62, title = {Self-Triggering in Nonlinear Systems: A Small Gain Theorem Approach}, booktitle = {Proceedings of the 20th Mediterranean Conference on Control and Automation}, series = {NULL}, year = {2012}, pages = {941{\textendash}947}, keywords = {hybrid systems}, url = {https://hybrid.soe.ucsc.edu/files/preprints/62.pdf}, author = {D. Tolic and R. G. Sanfelice and R. Fierro} }