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@@ -641,11 +641,11 @@ <h2 class="anchored" data-anchor-id="reset-control-systems">Reset control system
 <section id="switched-systems" class="level2">
 <h2 class="anchored" data-anchor-id="switched-systems">Switched systems</h2>
 <p>Readable introduction to switched systems is in the slim book <span class="citation" data-cites="liberzonSwitchingSystemsControl2003"><a href="#ref-liberzonSwitchingSystemsControl2003" role="doc-biblioref">[7]</a></span>. The book is not freely available online, but a useful excerpt can be found in the lecture notes <span class="citation" data-cites="liberzonSwitchedSystemsStability2007"><a href="#ref-liberzonSwitchedSystemsStability2007" role="doc-biblioref">[8]</a></span>.</p>
-<p>Switched systems can also be viewed as system described by differential equations with discontinuous right-hand side. The theory of such systems is described in the classical book <span class="citation" data-cites="filippovDifferentialEquationsDiscontinuous1988"><a href="#ref-filippovDifferentialEquationsDiscontinuous1988" role="doc-biblioref">[9]</a></span>. The main concepts and results can also be found in the tutorial <span class="citation" data-cites="cortesDiscontinuousDynamicalSystems2008"><a href="#ref-cortesDiscontinuousDynamicalSystems2008" role="doc-biblioref">[10]</a></span>, perhaps even in a more accessible form. Additionally, accessible discussion in the online available beautiful (I really mean it) textbook <span class="citation" data-cites="trefethenExploringODEs2017"><a href="#ref-trefethenExploringODEs2017" role="doc-biblioref">[11]</a></span>, chapters 3 and 11. What is particularly nice about the latter book is that every concepts, even the most theoretical one, is illustrated by a simple Matlab code invoking the epic <a href="https://www.chebfun.org">Chebfun</a> toolbox.</p>
+<p>Switched systems can also be viewed as systems described by differential equations with discontinuous right-hand side. The theory of such systems is described in the classical book <span class="citation" data-cites="filippovDifferentialEquationsDiscontinuous1988"><a href="#ref-filippovDifferentialEquationsDiscontinuous1988" role="doc-biblioref">[9]</a></span>. The main concepts and results can also be found in the tutorial <span class="citation" data-cites="cortesDiscontinuousDynamicalSystems2008"><a href="#ref-cortesDiscontinuousDynamicalSystems2008" role="doc-biblioref">[10]</a></span>, perhaps even in a more accessible form. Additionally, accessible discussion in the online available beautiful (I really mean it) textbook <span class="citation" data-cites="trefethenExploringODEs2017"><a href="#ref-trefethenExploringODEs2017" role="doc-biblioref">[11]</a></span>, chapters 3 and 11. What is particularly nice about the latter book is that every concepts, even the most theoretical one, is illustrated by a simple Matlab code invoking the epic <a href="https://www.chebfun.org">Chebfun</a> toolbox.</p>
 </section>
 <section id="piecewise-affine-pwa-systems" class="level2">
 <h2 class="anchored" data-anchor-id="piecewise-affine-pwa-systems">Piecewise affine (PWA) systems</h2>
-<p>In our course we based our treatment of PWA systems on the monograph <span class="citation" data-cites="johanssonPiecewiseLinearControl2003"><a href="#ref-johanssonPiecewiseLinearControl2003" role="doc-biblioref">[12]</a></span>. It is not freely available online, but it is based on the author’s PhD thesis <span class="citation" data-cites="johanssonPiecewiseLinearControl1999"><a href="#ref-johanssonPiecewiseLinearControl1999" role="doc-biblioref">[13]</a></span>, which is available online. While these resources are a bit outdated (in particular, when it comes to stability analysis, back then they were not aware of the possibility to extend the S-procedure to higher-degree polynomials), they still a good starting point. From about the same time, the paper <span class="citation" data-cites="hassibiQuadraticStabilizationControl1998"><a href="#ref-hassibiQuadraticStabilizationControl1998" role="doc-biblioref">[14]</a></span> reads well (as usual in the case of the second author). A bit more up-to-date book dedicated purely to PWA control <span class="citation" data-cites="rodriguesPiecewiseAffineControl2019"><a href="#ref-rodriguesPiecewiseAffineControl2019" role="doc-biblioref">[15]</a></span>, but again, no freely online version. The book refers to the Matlab toolbox documented in <span class="citation" data-cites="fekriPWATOOLSMATLABToolbox2012"><a href="#ref-fekriPWATOOLSMATLABToolbox2012" role="doc-biblioref">[16]</a></span>. While the toolbox is rather dated and will hardly run on the current versions of Matlab (perhaps an opportunity for nice student project), it gives some insight into how the whole concept of a PWA approximation can be used in control design.</p>
+<p>In our course we based our treatment of PWA systems on the monograph <span class="citation" data-cites="johanssonPiecewiseLinearControl2003"><a href="#ref-johanssonPiecewiseLinearControl2003" role="doc-biblioref">[12]</a></span>. It is not freely available online, but it is based on the author’s PhD thesis <span class="citation" data-cites="johanssonPiecewiseLinearControl1999"><a href="#ref-johanssonPiecewiseLinearControl1999" role="doc-biblioref">[13]</a></span>, which is available online. While these resources are a bit outdated (in particular, when it comes to stability analysis, back then they were not aware of the possibility to extend the S-procedure to higher-degree polynomials), they still a good starting point. From about the same time, the paper <span class="citation" data-cites="hassibiQuadraticStabilizationControl1998"><a href="#ref-hassibiQuadraticStabilizationControl1998" role="doc-biblioref">[14]</a></span> reads well (as usual in the case of the second author). A bit more up-to-date book dedicated purely to PWA control <span class="citation" data-cites="rodriguesPiecewiseAffineControl2019"><a href="#ref-rodriguesPiecewiseAffineControl2019" role="doc-biblioref">[15]</a></span>, but again, no free online version. The book refers to the Matlab toolbox documented in <span class="citation" data-cites="fekriPWATOOLSMATLABToolbox2012"><a href="#ref-fekriPWATOOLSMATLABToolbox2012" role="doc-biblioref">[16]</a></span>. While the toolbox is rather dated and will hardly run on the current versions of Matlab (perhaps an opportunity for nice student project), the tutorial paper gives some insight into how the whole concept of a PWA approximation can be used in control design.</p>
 </section>
 <section id="piecewise-affine-linear-approximation" class="level2">
 <h2 class="anchored" data-anchor-id="piecewise-affine-linear-approximation">Piecewise affine (linear) approximation</h2>