@incollection{ames2004affine,
  title={Affine hybrid systems},
  author={Ames, Aaron D and Sastry, Shankar},
  booktitle={International Workshop on Hybrid Systems: Computation and Control},
  pages={16--31},
  year={2004},
  organization={Springer, Berlin, Heidelberg},
  url = {http://ames.caltech.edu/HSCC2004.pdf}
}


%%%%%%%%%%%%%%% year={2002} %%%%%%%%%%%

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