Bemporad, Alberto and Di Cairano, Stefano and Ferrari-Trecate, Giancarlo and Kvasnica, Michal and Morari, Manfred and Paoletti, Simone  Tools for modeling, simulation, control, and verification of piecewise affine systems.   In:  Handbook of Hybrid Systems Control: Theory, Tools, and Applications.   Cambridge University Press, Cambridge, pp. 297-324.  ISBN 9780521765053      (2009)