@article{Brogliato.2001,
  author	= {Brogliato, B.},
  title		= {On the control of nonsmooth complementarity dynamical systems},
  journal	= {Philosophical Transactions of the Royal Society series A (Mathematical, Physical and Engineering Sciences)},
  year		= {2001},
  volume	= {359},
  number	= {1789},
  pages		= {2369--2384},
}