@article{BrogliatoZavala.2000,
  author	= {Brogliato, B. and Zavala-Rio, A.},
  title		= {On the control of complementary-slackness mechanical juggling systems},
  journal	= {{IEEE} Transactions on Automatic Control},
  year		= {2000},
  volume	= {45},
  number	= {2},
  pages		= {235--246},
}