@article{eprints452,
           month = {October},
       publisher = {Elsevier},
           pages = {1709--1721},
         journal = {Automatica},
            year = {2005},
          author = {Francesco Borrelli and Mato Baotic and Alberto Bemporad and Manfred Morari},
           title = {Dynamic programming for constrained optimal control of discrete-time linear hybrid systems},
          number = {10},
          volume = {41},
        keywords = {Hybrid systems; Piecewise affine systems; Optimal control; Dynamic programming; Multiparametric programming},
        abstract = {In this paper we study the solution to optimal control problems for constrained discrete-time linear hybrid systems based on quadratic or linear performance criteria. The aim of the paper is twofold. First, we give basic theoretical results on the structure of the optimal state-feedback solution and of the value function. Second, we describe how the state-feedback optimal control law can be constructed by combining multiparametric programming and dynamic programming.},
             url = {http://eprints.imtlucca.it/452/}
}