1. An Introduction to Differentiable Manifolds and Riemannian Geometry;Boothby,1975
2. Differentiable Manifolds;Brickell,1970
3. Existence and uniqueness of realizations of nonlinear systems;Jakubczyk;SIAM J. Control Optim.,1980
4. Switching in Systems and Control;Liberzon,2003
5. N.S. Simić, K. H. Johansson, S. Sastry, J. Lygeros, Towards a Geometric Theory of Hybrid Systems, Lecture Notes in Computer Science, vol. 1790, Springer, Berlin, 2002, pp. 421–436.