Copp D.A, Sanfelice R.G.  2012.  On the Effect and Robustness of Zero-crossing Detection Algorithms in Simulation of Hybrid Systems Jumping on Surfaces. Proceedings of the American Control Conference. :2449–2454.

Sanfelice R.G, Copp D.A, Nanez P..  2013.  A Toolbox for Simulation of Hybrid Systems in {M}atlab/{S}imulink: {H}ybrid {E}quations ({HyEQ}) {T}oolbox. Proceedings of Hybrid Systems: Computation and Control Conference. :101–106.

Copp D.A, Sanfelice R.G.  2016.  A Zero-crossing Detection Algorithm for Robust Simulation of Hybrid Systems Jumping on Surfaces. Simulation Modelling Practice and Theory. 68:1-17.

Sanfelice R.G, Copp D.A, Nanez P..  2014.  Hybrid Equations (HyEQ) Toolbox.