Liang Lu W. P. M. H. Heemels Alberto Bemporad Synthesis of low-complexity stabilizing piecewise affine controllers: A control-Lyapunov function approach. 1227-1232 2011 CDC-ECE http://dx.doi.org/10.1109/CDC.2011.6161244 conf/cdc/2011 db/conf/cdc/cdc2011.html#LuHB11