Computation of piecewise affine terminal cost functions for model predictive control. Brunner, F. D., Lazar, M., & Allgöwer, F. In Proc.\ 17th Int.\ Conf. Hybrid Systems: Computation and Control (HSCC), pages 1-10, Berlin, Germany, 2014.
bibtex   
@INPROCEEDINGS{ist:brunner14a,
  author = {Brunner, F. D. and Lazar, M. and Allg{\"o}wer, F.},
  title = {Computation of piecewise affine terminal cost functions for model
	predictive control},
  booktitle = {Proc.\ 17th Int.\ Conf. Hybrid Systems: Computation and Control (HSCC)},
  year = {2014},
  pages = {1-10},
  address = {Berlin, Germany},
  pubtype = {proceeding}
}

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