@incollection{eprints535,
           title = {Passivity analysis of discrete-time hybrid systems using piecewise polynomial storage functions},
            year = {2005},
         address = {12th-15th December 2005},
           pages = {5421--5426},
       booktitle = {Decision and Control and European Control Conf.},
         journal = {Decision and Control and European Control Conf.},
       publisher = {IEEE},
          author = {Alberto Bemporad and Gianni Bianchini and Filippo Brogi and Graziano Chesi},
        abstract = {This paper proposes some sufficient criteria based on the computation of polynomial and piecewise polynomial storage functions for checking passivity of discrete-time hybrid systems in piecewise affine or piecewise polynomial form. The computation of such storage functions is performed by means of convex optimization techniques via the sum of squares decomposition of multivariate polynomials.},
             url = {http://eprints.imtlucca.it/535/},
        keywords = {Hybrid systems ; discrete-time models ; passive systems ; sum of squares decomposition}
}