Wei Zhang Alessandro Abate Jianghai Hu Stabilization of Discrete-Time Switched Linear Systems: A Control-Lyapunov Function Approach. 411-425 2009 HSCC http://dx.doi.org/10.1007/978-3-642-00602-9_29 conf/hybrid/2009 db/conf/hybrid/hscc2009.html#ZhangAH09