@article{JCA_2016_23_1_JCA_2016_23_1_a1,
     author = {S. Adly and B. Brogliato and B. K. Le},
     title = {Implicit {Euler} {Time-Discretization} of a {Class} of {Lagrangian} {Systems} with {Set-Valued} {Robust} {Controller}},
     journal = {Journal of convex analysis},
     pages = {23--52},
     year = {2016},
     volume = {23},
     number = {1},
     url = {http://geodesic.mathdoc.fr/item/JCA_2016_23_1_JCA_2016_23_1_a1/}
}