Tong Liu 0031 Yufeng Gao Martin Buss Adaptive Output Tracking Control of Piecewise Affine Systems With Prescribed Performance. 5398-5410 2022 52 IEEE Trans. Syst. Man Cybern. Syst. 9 https://doi.org/10.1109/TSMC.2021.3122982 db/journals/tsmc/tsmc52.html#LiuGB22