?url_ver=Z39.88-2004&rft_id=10.1109%2FTAC.2004.828315&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.aufirst=Alberto&rft.aulast=Bemporad&rft.au=Bemporad%2C+Alberto&rft.issn=0018-9286&rft.title=IEEE+Transactions+on+Automatic+Control+&rft.atitle=Efficient+conversion+of+mixed+logical+dynamical+systems+into+an+equivalent+piecewise+affine+form&rft.date=2004&rft.volume=49&rft.issue=5&rft.pages=832-838&rft.genre=article