@article{theeffectofcontrolbarrierfunctionson,
  title = {The effect of control barrier functions on energy transfers in controlled physical systems},
  author = {Federico Califano and Riccardo Zanella and Alessandro Macchelli and Stefano Stramigioli},
  year = {2024},
  eprint = {2406.13420},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2406.13420v2},
}