@article {koumboulis2007supervisory,
	title = {A Supervisory Scheme for Step-Wise Safe Switching Controllers},
	journal = {International Journal of Mechanical and Mechatronics Engineering},
	volume = {1},
	number = {7},
	year = {2007},
	pages = {335{\textendash}342},
	publisher = {World Academy of Science, Engineering and Technology},
	author = {Fotis N. Koumboulis and Tzamtzi, Maria P}
}
