# Piecewise - Differentiable Trajectory Outcomes in Mechanical Systems Subject to Unilateral Constraints

> Research article (Proceedings of the 20th International Conference on Hybrid Systems: Computation and Control, 2017) · cited 21× · AI/ML

**Wikidata**: [openalex:W2533477737](https://www.wikidata.org/wiki/openalex:W2533477737)  
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