Buss, M.;Glocker, and M.;Hardt, M.;Stryk, O. von;Bulirsch, R.;Schmidt, G.
Nonlinear Hybrid Dynamical Systems: Modeling, Optimal Control, and Applications
311-336
Lecture Notes in Control and Information Sciences: Modelling, Analysis, and Design of Hybrid Systems
Frehse, S. Engell G.;Schnieder, E.
Springer
2002