Mauro Boccadoro Yorai Wardi Magnus Egerstedt E. Verriest Optimal Control of Switching Surfaces in Hybrid Dynamical Systems. 433-448 2005 15 Discrete Event Dynamic Systems 4 http://dx.doi.org/10.1007/s10626-005-4060-4 db/journals/deds/deds15.html#BoccadoroWEV05