Guaranteed Stability for Collision Detection and Simulation of Hybrid Dynamical Systems. Patoglu, V. Ph.D. Thesis, The University of Michigan, Ann Arbor, 2005.
bibtex   
@PhDThesis{patoglu_thesis,
  author =       {Volkan Patoglu},
  title =        {Guaranteed Stability for Collision Detection and Simulation of Hybrid Dynamical Systems},
  school =       {The University of Michigan, Ann Arbor},
  year =         {2005}
}


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