?url_ver=Z39.88-2004&rft_id=10.1109%2FISCAS.2010.5537905&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.aufirst=Alberto&rft.aulast=Bemporad&rft.au=Bemporad%2C+Alberto&rft.isbn=978-1-4244-5309-2&rft.btitle=Symposium+on+Circuits+and+Systems&rft.title=On+the+synthesis+of+piecewise+affine+control+laws&rft.date=2010&rft.genre=bookitem