?url_ver=Z39.88-2004&rft_id=10.1109%2FTAC.2006.876949&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.aulast=Bemporad&rft.au=Bemporad%2C+Alberto&rft.aufirst=Alberto&rft.volume=51&rft.title=IEEE+Transactions+on+Automatic+Control&rft.date=June+2006&rft.atitle=Logic-based+solution+methods+for+optimal+control+of+hybrid+systems&rft.pages=963-976&rft.issue=6&rft.issn=0018-9286&rft.genre=article