We first introduce a novel modeling framework, called linear coupled component automata (LCCA), to facilitate the modeling of discrete-continuous dynamical systems with piecewise constant derivatives. Second, we provide a procedure for transforming models in this framework to mixed-integer linear programming (MILP) constraints. Traditionally, such systems have been modeled directly with MILP constraints. We show with an example that our framework significantly simplifies model formulation and allows the complex MILP constraints to be produced systematically. (C) 2008 Elsevier Ltd. All rights reserved.