@ARTICLE{AJPR-JSR2013, 
author={Ahmadi, A. A. and Jungers, R. and Parrilo, P. and Roozbehani, M.}, 
journal={SIAM Journal on Control and Optimization}, 
title={Joint Spectral Radius and Path-Complete Graph {Lyapunov} Functions}, 
year={2014}, 
volume={52}, 
number={1}, 
pages={687–717}, 
}