W.P.M.H. Heemels, B. Brogliato

"The complementarity class of hybrid dynamical systems"

European Journal of Control, 2003, vol.9, pp.311-319



B. Brogliato

"Some perspectives on the analysis and control of complementarity systems"

IEEE Transactions on Automatic Control, 2003, vol.48, no 6, pp.918-935.


Heemels, W.P.M.H., Camlibel, M.K., van der Schaft, A.J. and Schumacher, J.M.

"Modelling, well-posedness and stability of switched electrical networks"

Proc. Hybrid Systems: Computations and Control 2003,  Prague, pp. 249-266.

M.K. Camlibel, W.P.M.H. Heemels, A.J. van der Schaft, and~J.M. Schumacher

"Switched Networks and Complementarity", to appear in special issue on

"Switched circuits and systems" of the Transactions on Circuits and Systems-I.

A. Lj. Juloski, WPMH Heemels, G. Ferrari-Trecate

"Identification of an industrial hybrid system"

IFAC ADHS2003, 16-18 June, Saint-Malo, France.

M.K. Camlibel, WPMH Heemels, JM Schumacher

"Stability and controllability of planar bimodal linear complementarity systems"

submitted to IEEE Conference on Decision and Control, December 2003.

A. Lj. Juloski, WPMH heemels, Y Boers, F Verschure

"Two approaches to state estimation for a class of piecewise affine systems"

submitted to IEEE Conference on Decision and Control, December 2003.



D. Goeleven, B. Brogliato

"Stability and unstability matrices for linear evolution variational inequalities"


B. Brogliato, D. Goeleven

"The Krakovskii-LaSalle invariance principle for a class of unilateral dynamical systems"

B. Brogliato, M. Mabrouk, A. Zavala Rio

"On the controllability of linear juggling mechanical systems"


V. Acary, B. Brogliato

"Toward a multiple impact law: the 3-ball chain example"




C. Glocker

"Impacts with global dissipation index at reentrant corners"




C. Glocker

"The geometry of newtonian impacts with global dissipation index for moving sets"




C. Glocker

"On frictionless impact models in rigid-body systems"




D. Putra, H, Nijmeijer

"Limit cycling in observer-based controlled mechanical systems with friction"




D.J. Wagg, S.R. Bishop

"Dynamics of a two degree of freedom vibro-impact system with multiple motion limiting constraints"




B. de Schutter, T.J.J. van den Boom

"MPC for discrete-event systems with soft and hard synchronisation constraints"


T.J.J. van den Boom, B. de Schutter, G. Schullerus, V. Krebs

"Adaptive model predictive control using max-plus-linear input-output models"



T.J.J. van den Boom, B. de Schutter, V. Verdult

"Identification of stochastic max-plus-linear systems"


G. Schullerus, V. Krebs,B. de Schutter, T.J.J. van den Boom

"Optimal input signal design for identification of max-plus-linear systems"



P. Kowalczyk, M. di Bernardo

"Two-parameter sliding bifurcations of limit cycles in Filippov systems"

M. di Bernardo, P. Kowalczyk, A. Nordmark

"Sliding bifurcations: a novel mechanism for the sudden onset in dry-friction oscillators"


Jean-Matthieu Bourgeot, Bernard Brogliato

"Tracking control of complementarity Lagrangian systems"

International Journal of Bifurcation and Chaos, special issue on Non-Smooth Dynamical Systems: Recent Trends and Perspectives, to appear in 2003



N. Mihajlovic, A.A. van Veggel, N. van de Wouw, H. Nijmeijer

 "Analysis of Friction-Induced Limit Cycling in an Experimental Drill-String System",

Accepted for publication in ASME Journal of Dynamic Systems and Control, 2004.


N. Mihajlovic, A.A. van Veggel, N. van de Wouw, H. Nijmeijer

"Friction-induced torsional vibrations in drill-string systems"

BAMC03 British Applied Mathematics Conference, Southampton, 07-10 April 2003


J.M. Schumacher

2003 "Complementarity in Optimisation"

(preliminary version) WP1_mpb_schum.pdf



L. Iannelli, K.H. Johansson, U. Jönsson, F. Vasca

"Dither for Smoothing Relay Feedback Systems"

IEEE Transactions on Circuits and Systems Part I, vol. 50, no. 8, August 2003, pp. 1025-1035.

L. Iannelli, K.H. Johansson, U. Jönsson, F. Vasca

"Dither Shape in the Averaging of Switched Systems"

submitted to American Control Conference 2004.

L. Iannelli, K.H. Johansson, U. Jönsson, F. Vasca

"Effects of Dither Shapes in Nonsmooth Feedback Systems: Experimental Results and Theoretical Insight"

IEEE Conference on Decision and Control 2003, accepted for presentation.

L. Iannelli, K.H. Johansson, U. Jönsson, F. Vasca

"Practical Stability and Limit Cycles of Dithered Relay Feedback Systems"

European Control Conference 2003, Cambridge, UK, September 2003.


M. Di Bernardo, P. Kowalczyk, A. Nordmark

2003 "Sliding Bifurcations: a novel mechanism for the sudden onset of chaos in dry friction  oscillator"

International Journal of Bifurcations and Chaos, vol.13,  no 10, pp. 2935-2948.



Chris Halse, Martin Homer, Mario di BernardO

"C-bifurcations and period-adding in in one-dimensional piecewise smooth maps"

Chaos, Solitons and Fractals, vol. 18, pp. 953-976, 2003.



V. Acary, B. Brogliato, A. Daniilidis, C. Lemarechal

"On the equivalence between complementarity systems, projected systems and unilateral differential inclusions",

2004   -



K. Camlibel, W.P.M.H. Heemels, H. Schumacher

"On the controllability of bimodal piecewise linear systems"

Hybrid Systems, Computation and Control, March 2004, Philadelphia, USA.



B. Brogliato

"Some results on the controllability of planar variational inequalities"




D. Putra, L. Moreau, H. Nijmeijer

"Observer-based compensation of discontinuous friction"

submitted to the IEEE Conference on Decision and Control, 2004 - Putra_Moreau_Nijmeijer.pdf



Van de Wouw, N., Leine, R.I.

"Attractivity of Equilibrium Sets of Systems with Dry Friction", /Nonlinear Dynamics /,

Vol. 35, No. 1. pp. 19–39, 2004. WP5_VandeWouwLeine_ND2004.pdf

Mihajlovic, N., Van Veggel, A.A., Van de Wouw, N., Nijmeijer, H.
"Friction-induced Torsional Vibrations in an Experimental Drill-String System",

Proceedings of 23rd IASTED Conference on Modelling, Identification and Control,

Editor: M.H. Hamza, Grindelwald, Switserland, 6 pp., 2004



A.L. JuLoski, W.P.M.MH. Heemels, B. Brogliato

"Observer design for Lur'e systems with multi-valued mappings"




D. Goeleven, B. Brogliato

"Necessary conditions of asymptotic stability for unilateral dynamical systems"

INRIA report RR-5571 available at: 


M.D.P. Monteiro Marques, L. Paoli

"An existence result in non-smooth dynamics"

presented at the colloquium in the honour of the 80th birthday of J.J. Moreau,

Montpellier, 10/11 November 2003, France.



V. Acary, B. Brogliato, D. Goeleven

"Higher order Moreau's sweeping process: Mathematical formulation and numerical simulation"

INRIA Research Report available at:



U. Galvanetto

2004 "Sliding bifurcations in the dynamics of mechanical systems with dry friction -- remarks for engineers and applied scientists"

Journal of Sound and Vibration, vol.276, pp.121-139.