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@article{DeSvan:02-004,
   author={De Schutter, Bart and van den Boom, Ton J. J.},
   title={{MPC} for Continuous Piecewise-Affine Systems},
   journal={Systems \& Control Letters},
   volume={52},
   number={3--4},
   pages={179--192},
   month=jul,
   year={2004}
   }