Francesco Borrelli Mato Baotic Alberto Bemporad Manfred Morari Dynamic programming for constrained optimal control of discrete-time linear hybrid systems. 1709-1721 2005 41 Automatica 10 http://dx.doi.org/10.1016/j.automatica.2005.04.017 db/journals/automatica/automatica41.html#BorrelliBBM05