Alberto Bemporad Andrea Garulli Simone Paoletti Antonio Vicino A Greedy Approach to Identification of Piecewise Affine Models. 97-112 2003 conf/hybrid/2003 HSCC http://link.springer.de/link/service/series/0558/bibs/2623/26230097.htm db/conf/hybrid/hscc2003.html#BemporadGPV03