@incollection{eprints623,
            year = {2009},
         journal = {Handbook of Hybrid Systems Control: Theory, Tools, and Applications},
       booktitle = {Handbook of Hybrid Systems Control: Theory, Tools, and Applications},
          editor = {Jan Lunze and Fran{\c c}oise Lamnabhi-Lagarrigue},
       publisher = {Cambridge University Press},
           title = {Tools for modeling, simulation, control, and verification of piecewise affine systems},
         address = {Cambridge},
          author = {Alberto Bemporad and Stefano Di Cairano and Giancarlo Ferrari-Trecate and Michal Kvasnica and Manfred Morari and Simone Paoletti},
           pages = {297--324},
             url = {http://eprints.imtlucca.it/623/}
}