Hamiltonian dynamical systems for convex problems of optimal control: implications for the value function. - Rafal Goebel (CDC, 2002)

Convexity in Zero-Sum Differential Games. - Rafal Goebel (SIAM J. Control. Optim., 2002)

A factorization approach to C1 stabilization of nonlinear triangular systems. - Dragan B. Dacic; Rafal K. Goebel; Petar V. Kokotovic (CDC, 2003)

Stabilizing linear systems with saturation through optimal control. - Rafal Goebel (CDC, 2004)

Dissipativity for dual linear differential inclusions through conjugate storage functions. - Rafal Goebel; Andrew R. Teel; Tingshu Hu; Zongli Lin (CDC, 2004)

Stability regions for saturated linear systems via conjugate Lyapunov functions. - Tingshu Hu; Zongli Lin; Rafal Goebel; Andrew R. Teel (CDC, 2004)

Converse Lyapunov theorems and robust asymptotic stability for hybrid systems. - Chaohong Cai; Andrew R. Teel; Rafal Goebel (ACC, 2005)

Continuous time constrained linear quadratic regulator - convex duality approach. - Rafal Goebel; Maxim V. Subbotin (ACC, 2005)

Results on solution sets to hybrid systems with applications to stability theory. - Rafal Goebel; Andrew R. Teel (ACC, 2005)

Results on convergence in hybrid systems via detectability and an invariance principle. - Ricardo G. Sanfelice; Rafal Goebel; Andrew R. Teel (ACC, 2005)

Results on robust stabilization of asymptotically controllable systems by hybrid feedback. - Christophe Prieur 001; Rafal Goebel; Andrew R. Teel (CDC/ECC, 2005)

Conjugate Lyapunov functions for saturated linear systems. - Tingshu Hu; Rafal Goebel; Andrew R. Teel; Zongli Lin (Autom., 2005)

Convex Optimal Control Problems with Smooth Hamiltonians. - Rafal Goebel (SIAM J. Control. Optim., 2005)

Stabilizing a linear system with Saturation Through optimal control. - Rafal Goebel (IEEE Trans. Autom. Control., 2005)

On the robustness to measurement noise and unmodeled dynamics of stability in hybrid systems. - Ricardo G. Sanfelice; Andrew R. Teel; Rafal Goebel; Christophe Prieur 001 (ACC, 2006)

Results on relaxation theorems for hybrid systems. - Chaohong Cai; Andrew R. Teel; Rafal Goebel (CDC, 2006)

A Feedback Control Motivation for Generalized Solutions to Hybrid Systems. - Ricardo G. Sanfelice; Rafal Goebel; Andrew R. Teel (HSCC, 2006)

Solutions to hybrid inclusions via set and graphical convergence with stability theory applications. - Rafal Goebel; Andrew R. Teel (Autom., 2006)

Conjugate convex Lyapunov functions for dual linear differential inclusions. - Rafal Goebel; Andrew R. Teel; Tingshu Hu; Zongli Lin (IEEE Trans. Autom. Control., 2006)

Results on existence of smooth Lyapunov functions for (pre-)asymptotically stable hybrid systems with non-open basins of attraction. - Chaohong Cai; Andrew R. Teel; Rafal Goebel (ACC, 2007)

Hybrid systems techniques for convergence of solutions to switching systems. - Rafal Goebel; Ricardo G. Sanfelice; Andrew R. Teel (CDC, 2007)

Smooth Lyapunov Functions for Hybrid Systems - Part I: Existence Is Equivalent to Robustness. - Chaohong Cai; Andrew R. Teel; Rafal Goebel (IEEE Trans. Autom. Control., 2007)

Hybrid Feedback Control and Robust Stabilization of Nonlinear Systems. - Christophe Prieur 001; Rafal Goebel; Andrew R. Teel (IEEE Trans. Autom. Control., 2007)

Invariance Principles for Hybrid Systems With Connections to Detectability and Asymptotic Stability. - Ricardo G. Sanfelice; Rafal Goebel; Andrew R. Teel (IEEE Trans. Autom. Control., 2007)

Lyapunov characterization of Zeno behavior in hybrid systems. - Rafal Goebel; Andrew R. Teel (CDC, 2008)

Zeno behavior in homogeneous hybrid systems. - Rafal Goebel; Andrew R. Teel (CDC, 2008)

Supervising a family of hybrid controllers for robust global asymptotic stabilization. - Ricardo G. Sanfelice; Andrew R. Teel; Rafal Goebel (CDC, 2008)

Invariance principles for switching systems via hybrid systems techniques. - Rafal Goebel; Ricardo G. Sanfelice; Andrew R. Teel (Syst. Control. Lett., 2008)

The Proximal Average: Basic Theory. - Heinz H. Bauschke; Rafal Goebel; Yves Lucet; Xianfu Wang (SIAM J. Optim., 2008)

Smooth Lyapunov Functions for Hybrid Systems Part II: (Pre)Asymptotically Stable Compact Sets. - Chaohong Cai; Rafal Goebel; Andrew R. Teel (IEEE Trans. Autom. Control., 2008)

Smooth patchy control Lyapunov functions. - Rafal Goebel; Christophe Prieur 001; Andrew R. Teel (Autom., 2009)

Hybrid Control Systems. - Andrew R. Teel; Ricardo G. Sanfelice; Rafal Goebel (Encyclopedia of Complexity and Systems Science, 2009)

Basic results on pointwise asymptotic stability and set-valued Lyapunov functions. - Rafal Goebel (CDC, 2010)

The value function for the Linear-Quadratic Regulator with conical control constraints. - Rafal Goebel (CDC, 2010)

Preasymptotic Stability and Homogeneous Approximations of Hybrid Dynamical Systems. - Rafal Goebel; Andrew R. Teel (SIAM Rev., 2010)

Set-valued Lyapunov functions for difference inclusions. - Rafal Goebel (Autom., 2011)

Functions Which Are Quasiconvex under Linear Perturbations. - Emmanuel N. Barron; Rafal Goebel; Robert R. Jensen (SIAM J. Optim., 2012)

A stabilization result with application to bipedal locomotion. - Andrew R. Teel; Rafal Goebel; Benjamin Morris 001; Aaron D. Ames; Jessy W. Grizzle (CDC, 2013)

Lyapunov Functions and Duality for Convex Processes. - Rafal Goebel (SIAM J. Control. Optim., 2013)

Set-valued protocols for almost consensus of multiagent systems with uncertain interagent communication. - Teymur Sadikhov; Wassim M. Haddad; Rafal Goebel; Magnus Egerstedt (ACC, 2014)

Results on robust stability and feedback stabilization for systems with a continuum of equilibria. - Rafal Goebel (CDC, 2014)

Linear systems with conical constraints and convex Lyapunov functions in the framework of convex processes. - Rafal Goebel (CDC, 2014)

Robustness of stability through necessary and sufficient Lyapunov-like conditions for systems with a continuum of equilibria. - Rafal Goebel (Syst. Control. Lett., 2014)

Results on optimal stabilization of a continuum of equilibria. - Rafal Goebel (CDC, 2016)

How well-posedness of hybrid systems can extend beyond Zeno times. - Rafal Goebel; Ricardo G. Sanfelice (CDC, 2016)

Robust time-sub-optimal control of the saturated double integrator applied to attitude stabilization. - Mirko Brentari; Paolo Bosetti; Rafal Goebel; Luca Zaccarian (CDC, 2017)

Optimal control for pointwise asymptotic stability in a hybrid control system. - Rafal Goebel (Autom., 2017)

Stability and robustness for saddle-point dynamics through monotone mappings. - Rafal Goebel (Syst. Control. Lett., 2017)

Applications of convex analysis to consensus algorithms, pointwise asymptotic stability, and its robustness. - Rafal Goebel; Ricardo G. Sanfelice (CDC, 2018)

Pointwise Asymptotic Stability in a Hybrid System and Well-Posed Behavior Beyond Zeno. - Rafal Goebel; Ricardo G. Sanfelice (SIAM J. Control. Optim., 2018)

Almost Everywhere Conditions for Hybrid Lipschitz Lyapunov Functions. - Matteo Della Rossa; Rafal Goebel; Aneel Tanwani; Luca Zaccarian (CDC, 2019)

A unifying convex analysis and switching system approach to consensus with undirected communication graphs. - Rafal Goebel; Ricardo G. Sanfelice (Autom., 2020)

Piecewise structure of Lyapunov functions and densely checked decrease conditions for hybrid systems. - Matteo Della Rossa; Rafal Goebel; Aneel Tanwani; Luca Zaccarian (Math. Control. Signals Syst., 2021)

Multi-Channel Hybrid Time Domains and Clustering Protocols for Large-Scale Interconnections. - Andrew R. Teel; Rafal Goebel; Ricardo G. Sanfelice (CDC, 2023)

Discrete-Time Switching Systems as Difference Inclusions: Deducing Converse Lyapunov Results for the Former From Those for the Latter. - Rafal Goebel (IEEE Trans. Autom. Control., 2023)

A direct proof of Conley's decomposition for well-posed hybrid inclusions. - Rafal Goebel (Syst. Control. Lett., 2023)

Stochastic approximations of hybrid systems with continuous flow maps. - Andrew R. Teel; Rafal Goebel (ADHS, 2024)

Some converse Lyapunov-like results for strong forward invariance. - Rafal Goebel; Ricardo G. Sanfelice; Andrew R. Teel (CDC, 2024)

Stochastic approximation results for hybrid inclusions. - Andrew R. Teel; Rafal K. Goebel; Ricardo G. Sanfelice; Max F. Crisafulli (CDC, 2024)

A smooth Conley-Lyapunov function for hybrid inclusions on Rn. - Rafal K. Goebel; Andrew R. Teel (Syst. Control. Lett., 2025)