@conference {179, title = {A Model Predictive Control Framework for Hybrid Systems}, booktitle = {Proceedings of the 6th IFAC Conference on Nonlinear Model Predictive Control (NMPC)}, volume = {51}, year = {2018}, month = {August}, pages = {128-133}, author = {B. Altin and P. Ojaghi and R. G. Sanfelice} }