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1. Introduction
2. Background on mpLCP
3. Algebraic Properties of Invariancy Regions
4. Phase 2: Partitioning the Parameter Space
5. Phase 1: Determining an Initial Feasible Solution
6. Further Considerations
7. Assessment of Performance
8. Conclusion
Appendix A. Tableaux for Example 2.1
Appendix B. Tableaux for Example 2.2
References.

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