@conference {60, title = {On the Effect and Robustness of Zero-crossing Detection Algorithms in Simulation of Hybrid Systems Jumping on Surfaces}, booktitle = {Proceedings of the American Control Conference}, series = {NULL}, year = {2012}, pages = {2449{\textendash}2454}, keywords = {simulation}, url = {https://hybrid.soe.ucsc.edu/files/preprints/60.pdf}, author = {D. A. Copp and R. G. Sanfelice} }