Consistent abstractions of affine control systems. Pappas, G. J. & Simic, S. Automatic Control, IEEE Transactions on, 47(5):745–756, 2002.
Consistent abstractions of affine control systems [link]Paper  bibtex   
@article{ pappas_consistent_2002,
  title = {Consistent abstractions of affine control systems},
  volume = {47},
  url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1000269},
  number = {5},
  urldate = {2013-09-24},
  journal = {Automatic Control, {IEEE} Transactions on},
  author = {Pappas, George J. and Simic, Slobodan},
  year = {2002},
  pages = {745–756}
}

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