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 "Hybrid MPC: Open-minded but not Easily Swayed", Assessment and Future Directions of Nonlinear Model Predictive Control, vol. Lecture Notes in Control and Information Sciences 358: Springer Berlin / Heidelberg, pp. 17–34, 2007.
 "Robust hybrid controllers for continuous-time systems with applications to obstacle avoidance and regulation to disconnected set of points", Proc. 25th American Control Conference, pp. 3352–3357, 2006.