@article{brogliato.ea.1997,
  author	= {Brogliato, B. and Niculescu, S. and Orhant, P.},
  title		= {On the control of finite-dimensional mechanical systems with unilateral constraints},
  journal	= {{IEEE} Transactions on Automatic Control},
  year		= {1997},
  volume	= {42},
  number	= {2},
  pages		= {200--215},
}