Switching in systems and control. Liberzon, D. Birkhauser, 2003.
bibtex   
@Book{SCC.Liberzon2003,
  title     = {Switching in systems and control},
  publisher = {Birkhauser},
  year      = {2003},
  author    = {Liberzon, D.},
  file      = {SCC.Liberzon2003.pdf:SCC.Liberzon2003.pdf:PDF},
  owner     = {Nitin Sharma},
  timestamp = {2007.06.07},
}

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