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J. Daafouz, M. D. Di Benedetto, V. D. Blondel, G. Ferrari-Trecate, L. Hetel, M. Johansson, A. L. Juloski, S. Paoletti, G. Pola, E. De Santis, and R. Vidal. Chapter 4: Switched and piecewise affine systems. In J. Lunze and F. Lamnabhi-Lagarrigue, editors, Handbook of Hybrid Systems Control: Theory, Tools, and Applications , pages 89--134. Cambridge University Press, 2009.