@incollection{Bemporad_2000,
    doi = {10.1007/3-540-46430-1_8},
    url = {https://doi.org/10.1007%2F3-540-46430-1_8},
    year = {2000},
    publisher = {Springer Berlin Heidelberg},
    pages = {45--58},
    author = {Alberto Bemporad and Fabio Danilo Torrisi and Manfred Morari},
    title = {Optimization-Based Verification and Stability Characterization of Piecewise Affine and Hybrid Systems},
    booktitle = {Hybrid Systems: Computation and Control}
}

@incollection{Bemporad_2000, doi = {10.1007/3-540-46430-1_8}, url = {https://doi.org/10.1007%2F3-540-46430-1_8}, year = {2000}, publisher = {Springer Berlin Heidelberg}, pages = {45--58}, author = {Alberto Bemporad and Fabio Danilo Torrisi and Manfred Morari}, title = {Optimization-Based Verification and Stability Characterization of Piecewise Affine and Hybrid Systems}, booktitle = {Hybrid Systems: Computation and Control} }