  Many control applications require that a system be constrained to a
particular set of states, often termed as safe set. A practical and flexible
method for rendering safe sets forward-invariant involves computing control
input using Control Barrier Functions and Quadratic Programming methods. Many
prior results however require the resulting control input to be continuous,
which requires strong assumptions or can be difficult to demonstrate
theoretically. In this paper we use differential inclusion methods to show that
simultaneously rendering multiple sets invariant can be accomplished using a
discontinuous control input. We present an optimization formulation which
computes such control inputs and which can be posed in multiple forms,
including a feasibility problem, a linear program, or a quadratic program. In
addition, we discuss conditions under which the optimization problem is
feasible and show that any feasible solution of the considered optimization
problem which is measurable renders the multiple safe sets forward invariant.
