@inbook {21,
	title = {Hybrid systems: limit sets and zero dynamics with a view toward output regulation},
	booktitle = {Analysis and Design of Nonlinear Control Systems},
	year = {2008},
	pages = {241-261},
	publisher = {Springer-Verlag},
	organization = {Springer-Verlag},
	chapter = {Hybrid systems: limit sets and zero dynamics with a view toward output regulation},
	abstract = {<p>We present results on omega-limit sets and minimum phase zero dynamics for hybrid dynamical systems. Moreover, we give pointers to how these results may be useful in the future for solving the output regulation problem for hybrid systems. We highlight the main attributes of omega-limit sets and we show, under mild conditions, that they are asymptotically stable. We define a minimum phase notion in terms of omega-limit sets and establish an equivalent Lyapunov characterization. Then we study the feedback stabilization problem for a class of minimum phase, relative degree one hybrid systems. Finally, we discuss output regulation for this class of hybrid systems. We illustrate the concepts with examples throughout the paper.</p>},
	keywords = {hybrid systems},
	doi = {http://www.springer.com/west/home/generic/search/results?http://www.springerlink.com/content/r00r175353435104/fulltext.pdf},
	url = {https://hybrid.soe.ucsc.edu/files/preprints/21.pdf},
	author = {C. Cai and R. Goebel and R. G. Sanfelice and A. R. Teel},
	editor = {A. Astolfi and L. Marconi and A. Astolfi and L. Marconi}
}
@article {363,
	title = {Control Barrier Function based Attack-Recovery with Provable Guarantees},
	journal = {IEEE Transactions on Automatic Control},
	year = {2026},
	month = {September},
	author = {K. Garg and R. G. Sanfelice and A. Cardenas}
}
@article {311,
	title = {Robust Synergistic Hybrid Feedback},
	journal = {IEEE Transactions on Automatic Control},
	year = {2024},
	month = {December},
	pages = {1-16},
	author = {P. Casau and R. G. Sanfelice and C. Silvestre}
}
@article {284,
	title = {Online Attack Recovery in Cyber-Physical Systems},
	journal = {IEEE Security and Privacy},
	volume = {21},
	number = {4},
	year = {2023},
	month = {July},
	pages = {20-28},
	author = {L. Burbano and K. Garg and S. Jimenez and A. Cardenas and R.G. Sanfelice}
}
@article {272,
	title = {A Switching-based  Moving Target Defense Against Sensor Attacks in Control Systems},
	journal = {Nonlinear Analysis: Hybrid Systems},
	volume = {47},
	year = {2022},
	author = {J. Giraldo and A. Cardenas and R. G. Sanfelice}
}
@article {223,
	title = {Forward Invariance of Sets for Hybrid Dynamical Systems (Part II)},
	journal = {IEEE Transactions on Automatic Control},
	volume = {66},
	number = {1},
	year = {2021},
	month = {January},
	pages = {89-104},
	author = {J. Chai and R. G. Sanfelice}
}
@article {230,
	title = {Analysis and Design of Event-triggered Control Algorithms using Hybrid Systems Tools},
	journal = {International Journal of Robust and Nonlinear Control},
	year = {2020},
	month = {April},
	author = {J. Chai and P. Casau and R. G. Sanfelice}
}
@article {210,
	title = {Robust global exponential stabilization on the n-dimensional sphere with applications to trajectory tracking for quadrotors},
	journal = {Automatica},
	volume = {110},
	year = {2019},
	month = {December},
	author = {P. Casau and C. G. Mayhew and R. G. Sanfelice and C. Silvestre}
}
@article {208,
	title = {Hybrid Control for Robust and Global Tracking on Smooth Manifolds},
	journal = {IEEE Transactions on Automatic Control},
	volume = {65},
	number = {5},
	year = {2019},
	month = {July},
	pages = {1870-1885},
	author = {P. Casau and R. Cunha and R. G. Sanfelice and C. Silvestre}
}
@article {185,
	title = {Forward Invariance of Sets for Hybrid Dynamical Systems ({Part I})},
	journal = {IEEE Transactions on Automatic Control},
	volume = {64},
	number = {6},
	year = {2019},
	month = {June},
	pages = {2426-2441},
	author = {J. Chai and R. G. Sanfelice}
}
@article {153,
	title = {Hybrid Stabilization of Linear Systems with Reverse Polytopic Input Constraints},
	journal = {IEEE Transactions on Automatic Control},
	volume = {62},
	number = {12},
	year = {2017},
	month = {February},
	pages = {6473-6480},
	keywords = {152},
	author = {P. Casau and R. G. Sanfelice and C. Silvestre}
}
@article {146,
	title = {A Zero-crossing Detection Algorithm for Robust Simulation of Hybrid Systems Jumping on Surfaces},
	journal = {Simulation Modelling Practice and Theory},
	volume = {68},
	year = {2016},
	month = {November},
	pages = {1-17},
	chapter = {1},
	author = {D. A. Copp and R. G. Sanfelice}
}
@article {113,
	title = {Robust Global Trajectory Tracking for a Class of Underactuated Vehicles},
	journal = {Automatica},
	volume = {58},
	year = {2015},
	month = {August},
	pages = {90-98},
	keywords = {attitude control},
	author = {P. Casau and R. G. Sanfelice and R. Cunha and D. Cabecinhas and C. Silvestre}
}
@article {110,
	title = {Robust Global Stabilization of the {DC-DC} Boost Converter via Hybrid Control},
	journal = {IEEE Transactions on Circuits and Systems I},
	volume = {62},
	year = {2015},
	month = {April},
	pages = {1052-1061},
	keywords = {hybrid systems, power systems},
	author = {T. A. F. Theunisse and J. Chai and R. G. Sanfelice and W. P. M. H. Heemels}
}
@article {104,
	title = {A Globally Asymptotically Stabilizing Trajectory Tracking Controller for Fully Actuated Rigid Bodies using Landmark-based Information},
	journal = {International Journal of Robust and Nonlinear Control},
	volume = {25},
	year = {2015},
	pages = {3617--3640},
	keywords = {attitude control},
	doi = {10.1002/rnc.3283},
	author = {P. Casau and R. G. Sanfelice and R. Cunha and C. Silvestre}
}
@conference {358,
	title = {A Hybrid Model Predictive Control Framework for Docking and Stabilization of Composite Rigid Spacecraft Dynamics},
	booktitle = {2025 AIAA SciTech Forum-Guidance, Navigation, and Control Conference},
	year = {2026},
	month = {January},
	author = {H. Basu and P. Jirwankar and R. G. Sanfelice and M. Castroviejo-Fernandez and I. Kolmanovsky}
}
@conference {353,
	title = {A Barrier Function-based Approach for Nonlinear L1 Control},
	booktitle = {Proceedings of the 64th IEEE Conference on Decision and Control},
	year = {2025},
	month = {December},
	pages = {2675-2680},
	author = {H. T. Choi and J. H. Kim and R. G. Sanfelice}
}
@conference {351,
	title = {Pointwise Optimal Feedback Laws for Hybrid Inclusions using Multiple Control Barrier Functions},
	booktitle = {Proceedings of the 64th IEEE Conference on Decision and Control},
	year = {2025},
	month = {December},
	pages = {5654-5659},
	author = {C. A. Montenegro and H. Sweatland and K. Currier and W. Dixon and R. G. Sanfelice}
}
@conference {333,
	title = {Hybrid Model Predictive Control Approach for Spacecraft Proximity Maneuvering and Docking Accounting for Collisions},
	booktitle = {Proceedings of the American Control Conference},
	year = {2025},
	month = {July},
	pages = {4954-4959},
	author = {H. Basu and M. Castroviejo-Fernandez and R. G. Sanfelice and I. Kolmanovsky}
}
@conference {331,
	title = {Translational and Rotational Relative Dynamics Modeling and Its Use in Spacecraft Rendezvous With an Uncertain Docking Port Location},
	booktitle = {2025 AIAA SciTech Forum-Guidance, Navigation, and Control Conference},
	year = {2025},
	month = {January},
	author = {M. Castroviejo-Fernandez and M. Ambrosino and I. Kolmanovsky and H. Basu and R. G. Sanfelice}
}
@conference {326,
	title = {Digital-Twin-Enabled Multi-Spacecraft On-Orbit Operations},
	booktitle = {2025 AIAA SciTech Forum-Guidance, Navigation, and Control Conference},
	year = {2025},
	month = {January},
	author = {S. Henao-Garcia and M. Kapteyn and M. Tezzele and K. Willcox and M. Castroviejo-Fernandez and T. Kim and M. Ambrosino and I. Kolmanovsky and H. Basu and P. P. Jirwankar and R. G. Sanfelice}
}
@conference {324,
	title = {Stochastic Approximation Results for Hybrid Inclusions},
	booktitle = {Proceedings of the 63rd IEEE Conference on Decision and Control},
	year = {2024},
	month = {December},
	pages = {7822-7827},
	author = {A. R. Teel and R. Goebel and R. G. Sanfelice and M. F. Crisafulli}
}
@conference {321,
	title = {A Tutorial on Hybrid Feedback Control},
	booktitle = {Proceedings of the 63rd IEEE Conference on Decision and Control},
	year = {2024},
	month = {December},
	pages = {729-748},
	author = {P. Casau and F. Ferrante and R. G. Sanfelice}
}
@conference {288,
	title = {An Observer-Based Switching Algorithm for Safety under Sensor Denial-Of-Service Attacks},
	booktitle = {Proceedings of the American Control Conference},
	year = {2023},
	month = {July},
	pages = {2469-2474},
	author = {S. Jimenez and K. Garg and R. G. Sanfelice and A. Cardenas}
}
@conference {283,
	title = {Provable Adversarial Safety in Cyber-Physical Systems},
	booktitle = {Proceedings of the 8th IEEE European Symposium on Security and Privacy (EuroS\&P)},
	year = {2023},
	month = {July},
	pages = {979-1012},
	author = {J.H. Castellanos and M. Maghenem and A. Cardenas and R.G. Sanfelice and J. Zhou}
}
@conference {281,
	title = {Control Barrier Function-Based Attack-Recovery with Provable Guarantees},
	booktitle = {Proceedings of the 61st IEEE Conference on Decision and Control, December},
	year = {2022},
	month = {December},
	pages = {4808-4813},
	author = {K. Garg and R. G. Sanfelice and A. Cardenas}
}
@conference {271,
	title = {Sampling-Based Computation of Viability Domain to Prevent Safety Violations by Attackers},
	booktitle = {Proceedings of the 6th IEEE Conference on Control Technology and Applications},
	year = {2022},
	month = {August},
	pages = {720-725},
	keywords = {computational methods, cyberphysical systems, cybersecurity},
	author = {K. Garg and A. Cardenas and R. G. Sanfelice}
}
@conference {249,
	title = {On the Robustness of Nominally Well-Posed Event-Triggered Controllers},
	booktitle = {Proceedings of the 60th IEEE Conference on Decision and Control},
	year = {2021},
	month = {December},
	pages = {415-420},
	author = {P. Casau and R. G. Sanfelice and C. Silvestre}
}
@conference {201,
	title = {Set-Based Predictive Control for Collision Detection and Evasion},
	booktitle = {Proceedings of the IEEE 15th International Conference on Automation Science and Engineering (CASE)},
	year = {2019},
	month = {August},
	pages = {541-546},
	author = {J. Crowley and Y. Zeleke and B. Altin and R. G. Sanfelice}
}
@conference {194,
	title = {Adaptive Backstepping of Synergistic Hybrid Feedbacks with Application to Obstacle Avoidance},
	booktitle = {Proceedings of the American Control Conference},
	year = {2019},
	month = {July},
	pages = {1730-1735},
	author = {P. Casau and R. G. Sanfelice and C. Silvestre}
}
@conference {192,
	title = {A Moving Target Defense to Detect Stealthy Attacks in Cyber-Physical Systems},
	booktitle = {Proceedings of the American Control Conference},
	year = {2019},
	month = {July},
	pages = {391-396},
	author = {J. Giraldo and A. Cardenas and R. G. Sanfelice}
}
@conference {173,
	title = {Hybrid Control for Autonomous Spacecraft Rendezvous Proximity Operations and Docking},
	booktitle = {IFAC Workshop on Networked \& Autonomous Air \& Space Systems (NAASS)},
	year = {2018},
	month = {June},
	pages = {94-99},
	author = {J. R. Crane and C. W. T. Roscoe and B. P. Malladi and G. Zucchini and E. Butcher and R. G. Sanfelice and I. Hussein}
}
@conference {159,
	title = {Hybrid Feedback for Global Asymptotic Stabilization on a Compact Manifold},
	booktitle = {Proceedings of the 2017 IEEE Conference on Decision and Control},
	series = {NULL},
	year = {2017},
	month = {December},
	pages = {2384-2389},
	author = {P. Casau and R. Cunha and R. G. Sanfelice and C. Silvestre}
}
@conference {158,
	title = {Analysis and Design of Event-triggered Control Algorithms using Hybrid Systems Tools},
	booktitle = {Proceedings of the 2017 IEEE Conference on Decision and Control},
	series = {NULL},
	year = {2017},
	month = {December},
	pages = {6057-6062},
	author = {J. Chai and P. Casau and R. G. Sanfelice}
}
@conference {149,
	title = {On Robust Forward Invariance of Sets for Hybrid Dynamical Systems},
	booktitle = {Proceedings of the American Control Conference},
	year = {2017},
	month = {May},
	pages = {1199-1204},
	author = {J. Chai and R. G. Sanfelice}
}
@conference {141,
	title = {Results on invariance-based feedback control for hybrid dynamical systems},
	booktitle = {Proceedings of the 55th IEEE Conference on Decision and Control},
	year = {2016},
	month = {December},
	pages = {622-627},
	author = {J. Chai and R. G. Sanfelice}
}
@conference {133,
	title = {Exponential Stabilization of a Vectored-Thrust Vehicle Using Synergistic Potential Functions},
	booktitle = {Proceedings of American Control Conference},
	year = {2016},
	pages = {6042--6047},
	author = {P. Casau and C. G. Mayhew and R. G. Sanfelice and C. Silvestre}
}
@conference {120,
	title = {On Notions and Sufficient Conditions for Forward Invariance of Sets for Hybrid Dynamical Systems},
	booktitle = {Proceedings of the 54th IEEE Conference on Decision and Control},
	series = {NULL},
	year = {2015},
	month = {December},
	pages = {2869-2874},
	author = {J. Chai and R. G. Sanfelice}
}
@conference {117,
	title = {Hybrid Feedback Control Methods for Robust and Global Power Conversion},
	booktitle = {Proceedings of the 5th Analysis and Design of Hybrid Systems},
	series = {NULL},
	year = {2015},
	month = {October},
	pages = {298-303},
	author = {J. Chai and R. G. Sanfelice}
}
@conference {115,
	title = {An Open-Source Architecture for Control and Coordination of a Swarm of Micro-Quadrotors},
	booktitle = {Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS)},
	series = {NULL},
	year = {2015},
	month = {June},
	pages = {139--146},
	author = {M. Furci and G. Casadei and R. Naldi and R. G. Sanfelice and L. Marconi}
}
@conference {107,
	title = {Global Exponential Stabilization on the $n$-Dimensional Sphere},
	booktitle = {Proceedings of the American Control Conference},
	series = {NULL},
	year = {2015},
	month = {June},
	pages = {3218--3223},
	keywords = {attitude control, hybrid systems},
	author = {P. Casau and C. G. Mayhew and R. G. Sanfelice and C. Silvestre}
}
@conference {101,
	title = {A Hybrid Controller for Global Uniform Exponential Stabilization of Linear Systems with Singular Input Constraints},
	booktitle = {Proceedings of the Conference on Decision and Control},
	series = {NULL},
	year = {2014},
	month = {December},
	pages = {741--746},
	keywords = {attitude control, hybrid systems},
	author = {P. Casau and R. G. Sanfelice and C. Silvestre}
}
@conference {91,
	title = {A Robust Hybrid Control Algorithm for a Single-Phase DC/AC Inverter with Variable Input Voltage},
	booktitle = {Proceedings of the 2014 American Control Conference},
	series = {NULL},
	year = {2014},
	pages = {1420-1425},
	keywords = {hybrid systems},
	author = {J. Chai and R. G. Sanfelice}
}
@conference {90,
	title = {A Hybrid Feedback Controller for Robust Global Trajectory Tracking of Quadrotor-like Vehicles with Minimized Attitude Error},
	booktitle = {Proceedings of the 2014 IEEE International Conference on Robotics and Automation},
	series = {NULL},
	year = {2014},
	month = {June},
	pages = {6272--6277},
	keywords = {attitude control},
	author = {P. Casau and R. G. Sanfelice and R. Cunha and D. Cabecinhas and C. Silvestre}
}
@conference {82,
	title = {Hybrid Control of the Boost Converter: {R}obust Global Stabilization},
	booktitle = {Proceedings of the IEEE Conference on Decision and Control},
	series = {NULL},
	year = {2013},
	pages = {3635{\textendash}3640},
	keywords = {hybrid systems},
	author = {T. A. F. Theunisse and J. Chai and R. G. Sanfelice and W. P. M. H. Heemels}
}
@conference {74,
	title = {A Toolbox for Simulation of Hybrid Systems in {M}atlab/{S}imulink: {H}ybrid {E}quations ({HyEQ}) {T}oolbox},
	booktitle = {Proceedings of Hybrid Systems: Computation and Control Conference},
	series = {NULL},
	year = {2013},
	pages = {101{\textendash}106},
	keywords = {simulation},
	doi = {http://doi.org/tz9},
	url = {https://hybrid.soe.ucsc.edu/files/preprints/74.pdf},
	author = {R. G. Sanfelice and D. A. Copp and P. Nanez}
}
@conference {71,
	title = {Global Trajectory Tracking for a Class of Underactuated Vehicles},
	booktitle = {Proceedings of the American Control Conference},
	series = {NULL},
	year = {2013},
	month = {June},
	pages = {419{\textendash}424},
	keywords = {attitude control},
	url = {https://hybrid.soe.ucsc.edu/files/preprints/71.pdf},
	author = {P. Casau and R. G. Sanfelice and R. Cunha and D. Cabecinhas and C. Silvestre}
}
@conference {66,
	title = {A Landmark-Based Controller for Global Asymptotic Stabilization on {SE(3)}},
	booktitle = {Proceedings of the IEEE Conference on Decision and Control},
	series = {NULL},
	year = {2012},
	pages = {496{\textendash}501},
	keywords = {attitude control},
	doi = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6426535},
	url = {https://hybrid.soe.ucsc.edu/files/preprints/66.pdf},
	author = {P. Casau and R. G. Sanfelice and R. Cunha, C. Silvestre}
}
@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}
}
@conference {59,
	title = {Attitude Control for Optimal Generation of Energy From Multiple Energy Sources},
	booktitle = {Proceedings of the ASEE Conference},
	series = {NULL},
	year = {2012},
	address = {Chicago, IL},
	keywords = {attitude control},
	author = {M. Robles and R. G. Sanfelice and G. Campa}
}
@conference {16,
	title = {Complex hybrid systems: stability analysis for omega limit sets},
	booktitle = {Proc. 26th Chinese Control Conference},
	series = {NULL},
	year = {2007},
	abstract = {This paper focuses on the asymptotic stability properties of omega limit sets for complex hybrid dynamical systems, which are commonly found in systems and engineering. It spells out specific stability results that follow when a hybrid dynamical system has certain structure, e.g., when it admits a decomposition resembling a cascade of hybrid dynamical systems.},
	keywords = {hybrid systems},
	url = {https://hybrid.soe.ucsc.edu/files/preprints/16.pdf},
	author = {C. Cai and R. Goebel and R. G. Sanfelice and A.R. Teel}
}
@conference {14,
	title = {{H}ybrid {S}ystems: stability and control},
	booktitle = {Proc. 26th Chinese Control Conference},
	series = {NULL},
	year = {2007},
	chapter = {Hybrid systems: limit sets and zero dynamics with a view toward output regulation},
	abstract = {We present results on omega-limit sets and minimum phase zero dynamics for hybrid dynamical systems. Moreover, we give pointers to how these results may be useful in the future for solving the output regulation problem for hybrid systems. We highlight the main attributes of omega-limit sets and we show, under mild conditions, that they are asymptotically stable. We define a minimum phase notion in terms of omega-limit sets and establish an equivalent Lyapunov characterization. Then we study the feedback stabilization problem for a class of minimum phase, relative degree one hybrid systems. Finally, we discuss output regulation for this class of hybrid systems. We illustrate the concepts with examples throughout the paper.},
	keywords = {hybrid systems},
	url = {https://hybrid.soe.ucsc.edu/files/preprints/14.pdf},
	author = {C. Cai and R. Goebel and R. G. Sanfelice and A. R. Teel}
}
@conference {13,
	title = {A hybrid control strategy for robust contact detection and force regulation},
	booktitle = {Proc. 26th American Control Conference},
	series = {NULL},
	year = {2007},
	pages = {1461{\textendash}1466},
	abstract = {We present an innovative hybrid control strategy for contact detection and force regulation of robotic manipulators. This hybrid architecture controls the robotic manipulator during the following stages of interaction with the work environment: the free motion, the transition phase, and the constrained motion. The proposed control strategy is to switch between a position and a force controller with hysteresis relying only on contact force measurements. We implement this strategy in a hybrid controller and provide a design procedure which depends on the viscoelastic parameters of the work environment. Our controller guarantees contact detection and force regulation without bounce-off effects between the robotic manipulator and the work environment from compact sets of initial conditions. Additionally, the resulting closed-loop system is robust to measurement noise. We include simulations that show how the proposed hybrid control strategy guarantees good performance in the cases of stiff and compliant work environments, and in the presence of measurement noise.},
	keywords = {hybrid systems},
	doi = {http://ieeexplore.ieee.org/iel5/4282134/4282135/04283119.pdf?tp=\&isnumber=4282135\&arnumber=4283119\&punumber=\%3Cb\%3E\%3Cfont\%20color=990000\%3E4282134\%3C/font\%3E\%3C/b\%3E},
	url = {https://hybrid.soe.ucsc.edu/files/preprints/13.pdf},
	author = {R. Carloni and R. G. Sanfelice and A. R. Teel and C. Melchiorri}
}
@conference {3,
	title = {Hybrid systems: generalized solutions and robust stability},
	booktitle = {Proc. 6th IFAC Symposium in Nonlinear Control Systems},
	series = {NULL},
	year = {2004},
	pages = {1{\textendash}12},
	abstract = {<p>Robust asymptotic stability for hybrid systems is considered. For this purpose, a generalized solution concept is developed. The first step is to characterize a hybrid time domain that permits an efiient description of the convergence of a sequence of solutions. Graph convergence is used. Then a generalized solution definition is given that leads to continuity with respect to initial conditions and perturbations of the system data. This property enables new results on necessary conditions for asymptotic stability in hybrid systems.</p>},
	keywords = {hybrid systems},
	doi = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.61.8882\&rep=rep1\&type=pdf},
	url = {https://hybrid.soe.ucsc.edu/files/preprints/3.pdf},
	author = {R. Goebel and J.P. Hespanha and A.R. Teel and C. Cai and R. G. Sanfelice}
}
