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Reference

A. Bemporad, S. Di Cairano, G. Ferrari-Trecate, M. Kvasnica, M. Morari, and S. Paoletti. Chapter 10: Tools for modeling, simulation, control, and verification of piecewise affine systems. In J. Lunze and F. Lamnabhi-Lagarrigue, editors, Handbook of Hybrid Systems Control: Theory, Tools, and Applications , pages 299--324. Cambridge University Press, 2009.

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