@article{eprints460,
          volume = {39},
          number = {5},
          author = {Petter Tondel and Tor Arne Johansen and Alberto Bemporad},
            year = {2003},
         journal = {Automatica},
           title = {Evaluation of piecewise affine control via binary search tree},
           pages = {945--950},
       publisher = {Elsevier},
             url = {http://eprints.imtlucca.it/460/},
        abstract = {We present an algorithm for generating a binary search tree that allows efficient computation of piecewise affine (PWA) functions defined on a polyhedral partition. This is useful for PWA control approaches, such as explicit model predictive control, as it allows the controller to be implemented online with small computational effort. The computation time is logarithmic in the number of regions in the PWA partition.},
        keywords = {Piecewise linear controllers; Hybrid systems}
}