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Gonçalves, Jorge M. and Megretski, Alexandre and Dahleh, Munther A. (2003) Global analysis of piecewise linear systems using impact maps and surface Lyapunov functions. IEEE Transactions on Automatic Control, 48 (12). pp. 2089-2106. ISSN 0018-9286. doi:10.1109/TAC.2003.820061. https://resolver.caltech.edu/CaltechAUTHORS:GONieeetac03

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