@article{ZavalaBrogliato.2001,
  author	= {Zavala, A. and Brogliato, B.},
  title		= {Direct adaptive control of a one degree-of-freedom complementary-slackness juggler},
  journal	= {Automatica},
  year		= {2001},
  volume	= {37},
  number	= {7},
  pages		= {1117--1123},
}