Benjamin Passenberg, Peter E. Caines, Marion Sobotka, Olaf Stursberg, Martin Buss. The minimum principle for hybrid systems with partitioned state space and unspecified discrete state sequence. In Proceedings of the 49th IEEE Conference on Decision and Control, CDC 2010, December 15-17, 2010, Atlanta, Georgia, USA. pages 6666-6673, IEEE, 2010. [doi]