@article{KOLATHAYA2017174, title = "Parameter to state stability of control Lyapunov functions for hybrid system models of robots", journal = "Nonlinear Analysis: Hybrid Systems", volume = "25", pages = "174 - 191", year = "2017", issn = "1751-570X", doi = "https://doi.org/10.1016/j.nahs.2016.09.003", url = "http://www.sciencedirect.com/science/article/pii/S1751570X16300607", author = "Shishir Kolathaya and Aaron D. Ames", keywords = "Parameter uncertainty, Input to state stability, Hybrid systems, Control Lyapunov functions" }