@article {sprinkle266, title = {Computationally-Aware Switching Criteria for Hybrid Model Predictive Control Of Cyber-Physical Systems}, journal = {IEEE Transactions on Automation Science and Engineering}, volume = {13}, year = {2016}, month = {04/2016}, pages = {479-490}, doi = {10.1109/TASE.2016.2523341}, url = {http://dx.doi.org/10.1109/TASE.2016.2523341}, author = {Kun Zhang and Jonathan Sprinkle and Ricardo G. Sanfelice} }