@article{
LopKer:14-021,
author={G.A.D. Lopes and B. Kersbergen and B. {D}e Schutter and T. van den Boom
and R. Babu{\v{s}}ka},
title={Synchronization of a Class of Cyclic Discrete-Event Systems Describing
Legged Locomotion},
journal={Discrete Event Dynamic Systems: Theory and Applications},
volume={26},
number={2},
pages={225--261},
year={2016},
doi={
10.1007/s10626-014-0206-6}
}