@article{kolathaya2017parameter,
  title={Parameter to state stability of control {L}yapunov functions for hybrid system models of robots},
  author={Kolathaya, Shishir and Ames, Aaron D},
  journal={Nonlinear Analysis: Hybrid Systems},
  volume={25},
  pages={174--191},
  year={2017},
  publisher={Elsevier},
  url = {http://ames.caltech.edu/kolathaya2017parameter.pdf},
  keywords = {Input to State Stability (ISS), Control Lyapunov Functions (CLFs), Bipedal Robotics, Locomotion}
}

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