Benvenuti, Luca and Balluchi, Andrea and Bemporad, Alberto and Di Cairano, Stefano and Johansson, Bengt and Johansson, Rolf and Sangiovanni Vincentelli, Alberto and Tunest, Per  Automotive control.   In:  Handbook of Hybrid Systems Control: Theory, Tools, and Applications.   Cambridge University Press, Cambridge, pp. 439-470.  ISBN 9780521765053      (2009)