Shiqing Wei Prashanth Krishnamurthy Farshad Khorrami Confidence-Aware Safe and Stable Control of Control-Affine Systems. 3371-3376 2024 ACC https://doi.org/10.23919/ACC60939.2024.10644706 conf/amcc/2024 db/conf/amcc/acc2024.html#WeiKK24 streams/conf/amcc