@article {138,
	title = {Computationally-Aware Switching Criteria for Hybrid Model Predictive Control Of Cyber-Physical Systems},
	journal = {IEEE Transactions on Automation Science and Engineering},
	volume = {13},
	year = {2016},
	pages = {479-490},
	doi = {http://dx.doi.org/10.1109/TASE.2016.2523341},
	author = {K. Zhang and J. Sprinkle and R. G. Sanfelice}
}
