  In this report, we analyze and design feedback policies for discrete-time
Piecewise-Affine (PWA) systems with uncertainty in both the affine dynamics and
the polytopic partition. The main idea is to utilise the Difference-of-Convex
(DC) decomposition of continuous PWA systems to derive quadratic Lyapunov
functions as stability certificates and stabilizing affine policies in a higher
dimensional space. When projected back to the state space, we obtain
time-varying PWQ Lyapunov functions and time-varying PWA feedback policies.
