@ARTICLE{TAC2022ControllerSynthesis,
  author={Fan, Chuchu and Qin, Zengyi and Mathur, Umang and Ning, Qiang and Mitra, Sayan and Viswanathan, Mahesh},
  journal={IEEE Transactions on Automatic Control}, 
  title={Controller Synthesis for Linear System With Reach-Avoid Specifications}, 
  year={2022},
  volume={67},
  number={4},
  pages={1713-1727},
  keywords={Trajectory;Linear systems;Encoding;Ellipsoids;Control systems;Computational modeling;Benchmark testing;Controller synthesis;disturbance;linear system;reach-avoid specification},
  doi={10.1109/TAC.2021.3069723}}