H
[HK99] Thomas A. Henzinger and Peter W. Kopke. Discrete-Time Control for Rectangular Hybrid Systems. Theoretical Computer Science 221(1-2):369-392. Elsevier, June 1999. 
@article{tcs221(1-2)-HK,
  author =              {Henzinger, Thomas A. and Kopke, Peter W.},
  title =               {Discrete-Time Control for Rectangular Hybrid
                         Systems},
  publisher =           {Elsevier},
  journal =             {Theoretical Computer Science},
  volume =              {221},
  number =              {1-2},
  pages =               {369-392},
  year =                {1999},
  month =               jun,
}
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