@inproceedings{or2009formal,
  title={Formal and practical completion of {L}agrangian hybrid systems},
  author={Or, Yizhar and Ames, Aaron D},
  booktitle={American Control Conference, 2009. ACC'09.},
  pages={3624--3631},
  year={2009},
  organization={IEEE},
  url = {http://ames.caltech.edu/FormalCompletion.pdf}
}

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