@article{yang2017robustification,
  title={Robustification and parametrization of switching controllers for a class of set invariance problems},
  author={Yang, Liren and Ozay, Necmiye},
  journal={IFAC-PapersOnLine},
  volume={50},
  number={1},
  pages={1470--1477},
  year={2017},
  publisher={Elsevier}
}