@Article{pfeiffer:tcst:2023,
  author    = {Pfeiffer, Kai and Escande, Adrien and Gergondet, Pierre and Kheddar, Abderrahmane},
  title     = {The Hierarchical Newton’s Method for Numerically Stable Prioritized Dynamic Control},
  journal   = {IEEE Transactions on Control Systems Technology},
  year      = {2023},
  volume    = {31},
  number    = {4},
  pages     = {1622-1635},
  month     = {July},
  doi       = {10.1109/TCST.2023.3234492},
  url       = {https://raw.githubusercontent.com/aescande/website/master/papers/2023\_TCST\_Pfeiffer.pdf},
  publisher = {IEEE}
}