@article{ames2014rapidly,
  title={Rapidly exponentially stabilizing control {L}yapunov functions and hybrid zero dynamics},
  author={Ames, Aaron D and Galloway, Kevin and Sreenath, Koushil and Grizzle, Jessy W},
  journal={IEEE Transactions on Automatic Control},
  volume={59},
  number={4},
  pages={876--891},
  year={2014},
  publisher={IEEE},
  url = {http://ames.caltech.edu/CFL_Robotics_TAC.pdf},
  url_video = {https://youtu.be/onOd7xWbGAk}
}

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