@article{
DeSvan:02-004,
author={B. {D}e Schutter and T.J.J. van den Boom},
title={{MPC} for Continuous Piecewise-Affine Systems},
journal={Systems \& Control Letters},
volume={52},
number={3--4},
pages={179--192},
month=jul,
year={2004},
doi={
10.1016/j.sysconle.2003.11.010}
}