Song, Guobiao. Robust stabilization of hybrid periodic orbits with application to dynamic bipedal walking. Robust stabilization of hybrid periodic orbits with application to dynamic bipedal walking. Engineering, Electronics and Electrical. 2014-03-18
    https://indigo.uic.edu/articles/thesis/Robust_stabilization_of_hybrid_periodic_orbits_with_application_to_dynamic_bipedal_walking_/10841756