@article {GreIJSS06,
	title = {A Geometry-Based Algorithm for the Stability of Planar Switching Systems},
	journal = {Int. J. of Systems Science},
	volume = {37},
	number = {11},
	year = {2006},
	pages = {747{\textendash}761},
	keywords = {Embedded Control, Robotics},
	author = {L. Greco and F. Tocchini and M. Innocenti}
}
