Ioannis A. Fotiou A. Giovanni Beccuti Georgios Papafotiou Manfred Morari Optimal Control of Piece-Wise Polynomial Hybrid Systems Using Cylindrical Algebraic Decomposition. 227-241 2006 conf/hybrid/2006 HSCC http://dx.doi.org/10.1007/11730637_19 db/conf/hybrid/hscc2006.html#FotiouBPM06