@inproceedings{b6f06a395f2d462481a8e75ac19b10b2,
title = "Dynamical Systems with Controlled Singularities: Physically Based Representation and Control-Oriented Modeling",
abstract = "A rigorous analytical framework for a class of dynamical systems with controlled singularities was developed. A physically motivated approach to generating the descriptions of the system with contact impulsive forces was proposed. The contact force was considered to be the result of a small violation of a constraint that starts taking place as soon as the system hits the boundary of a constraint. The controlled motion in the inhibited domain is admitted and described by the nonstandard controlled singularly perturbed differential equation with infinitely growing right-hand-side, so that the solution of this equation behaves in the limit a stepwise function with respect to the components of the generalized velocity.",
author = "Joseph Bentsman and Miller, {Boris M.}",
year = "2003",
doi = "10.1109/CDC.2003.1272329",
language = "English (US)",
isbn = "0780379241",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "6351--6356",
booktitle = "Proceedings of the IEEE Conference on Decision and Control",
address = "United States",
note = "42nd IEEE Conference on Decision and Control ; Conference date: 09-12-2003 Through 12-12-2003",
}