Andrej Jokic Mircea Lazar P. P. J. van den Bosch Complementarity Systems in Constrained Steady-State Optimal Control. 273-286 2008 HSCC http://dx.doi.org/10.1007/978-3-540-78929-1_20 conf/hybrid/2008 db/conf/hybrid/hscc2008.html#JokicLB08