Tobias Geyer Georgios Papafotiou Manfred Morari On the Optimal Control of Switch-Mode DC-DC Converters. 342-356 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2993&spage=342 2004 conf/hybrid/2004 HSCC db/conf/hybrid/hscc2004.html#GeyerPM04