Continuous and piecewise affine Lyapunov functions using the Yoshizawa construction. Hafstein, S., Kellett, C. M, & Li, H. In Proc. Am. Control Conf., pages 548–553, 2014. IEEE.
  author       = {Hafstein, Sigur{\dh}ur and Kellett, Christopher M and Li, Huijuan},
  title        = {Continuous and piecewise affine {L}yapunov functions using the {Y}oshizawa construction},
  booktitle    = {Proc. Am. Control Conf.},
  year         = {2014},
  pages        = {548--553},
  organization = {IEEE},

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