@incollection{eprints498,
       booktitle = {Hybrid Systems: Computation and Control},
           pages = {93--107},
       publisher = {Springer-Verlag},
          author = {Alberto Bemporad and Stefano Di Cairano and Jorge J{\'u}lvez},
            year = {2006},
         journal = {Hybrid Systems: Computation and Control},
           title = {Event-based model predictive control and verification of integral continuous-time hybrid automata},
        abstract = {This paper proposes an event-driven model predictive control scheme with guaranteed closed-loop convergence properties for the class of integral continuous-time hybrid automata (icHA). After converting icHA to a corresponding event-driven representation that allows one to compute the model predictive control action by mixed integer programming, sufficient conditions ensuring event-asymptotic and time-asymptotic convergence are proven. The paper also shows how the same modeling methodology can be employed to efficiently solve problems of verification of safety properties. },
             url = {http://eprints.imtlucca.it/498/}
}