@article {aut17,
	title = {Planning for optimal control and performance certification in nonlinear systems with controlled or uncontrolled switches},
	journal = {Automatica},
	volume = {78},
	year = {2017},
	pages = {297{\textendash}308},
	author = {Lucian Busoniu and Jamal Daafouz and Marcos-Cesar Bragagnolo and Constantin Morarescu}
}
