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![Cover for Frank Christophersen · Optimal Control of Constrained Piecewise Affine Systems - Lecture Notes in Control and Information Sciences (Taschenbuch) [2007 edition] (2007)](https://imusic.b-cdn.net/images/item/original/002/9783540727002.jpg?frank-christophersen-2007-optimal-control-of-constrained-piecewise-affine-systems-lecture-notes-in-control-and-information-sciences-taschenbuch&class=scaled&v=1582903871)