Tichakorn Wongpiromsarn Sayan Mitra Richard M. Murray Andrew G. Lamperski Periodically Controlled Hybrid Systems. 396-410 2009 HSCC http://dx.doi.org/10.1007/978-3-642-00602-9_28 conf/hybrid/2009 db/conf/hybrid/hscc2009.html#WongpiromsarnMML09