Robust exponential stabilization for the extended chained form via hybrid control. - David A. Lizárraga; Nnaedozie P. I. Aneke; Henk Nijmeijer (CDC, 2002)

Obstructions to the Existence of Universal Stabilizers for Smooth Control Systems. - David A. Lizárraga (Math. Control. Signals Syst., 2004)

Robust Point Stabilization of Underactuated Mechanical Systems via the Extended Chained Form. - David A. Lizárraga; Nnaedozie P. I. Aneke; Henk Nijmeijer (SIAM J. Control. Optim., 2004)

Vertically transverse functions as an extension of the transverse function control approach for second-order systems. - David A. Lizárraga; José M. Sosa (CDC/ECC, 2005)

Control of mechanical systems on Lie groups based on vertically transverse functions. - David A. Lizárraga; José M. Sosa (Math. Control. Signals Syst., 2008)

On the transversality of functions at the core of the transverse function approach to control. - David A. Lizárraga (Math. Control. Signals Syst., 2011)