@ARTICLE{Lopes2016SynchronizationClassCyclic, author = {G.A.D. Lopes and B. Kersbergen and B. {De 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}, year = {2016}, volume = {26}, number = {2}, pages = {225--261} }