@inproceedings{ames2006routhian,
  title={Hybrid {R}outhian reduction of {L}agrangian hybrid systems},
  author={Ames, Aaron D and Sastry, Shankar},
  booktitle={American Control Conference},
  pages={6--pp},
  year={2006},
  url = {http://ames.caltech.edu/HLR.pdf},
  organization={IEEE}
}

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