@article{approximatedynamicprogrammingfor1,
  title = {Approximate Dynamic Programming for Constrained Piecewise Affine Systems with Stability and Safety Guarantees},
  author = {Kanghui He and Shengling Shi and Ton van den Boom and Bart De Schutter},
  year = {2023},
  eprint = {2306.15723},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2306.15723v3},
}