?url_ver=Z39.88-2004&rft_id=10.1016%2Fj.automatica.2005.04.017&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.aufirst=Francesco&rft.aulast=Borrelli&rft.au=Borrelli%2C+Francesco&rft.pages=1709-1721&rft.issn=0005-1098&rft.title=Automatica&rft.date=October+2005&rft.issue=10&rft.volume=41&rft.atitle=Dynamic+programming+for+constrained+optimal+control+of+discrete-time+linear+hybrid+systems&rft.genre=article