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Koutsoukos, X., and P. Antsaklis, "Safety and Reachability of Piecewise Linear Hybrid Dynamical Systems Based on Discrete Abstractions", Journal of Discrete Event Dynamic Systems: Theory and Applications, vol. 13, pp. 203--243, 2003.  Download: Koutsoukos_X_0_0_2003_Safety_and.pdf (699.61 KB)