H. Michalska, M. Buehler This new project is concerned with the design of feedback laws which make the closed loop system have a globally attractive limit cycle of a prespecified size. The solution of this theoretical problem finds many applications. Feedback control of a hopping mobile robot is one example. The control objective is to stabilize the hopping height of the robot to a reference value. The project is carried out in collaboration with the experimental laboratory of Professor Martin Buehler.