Piecewise affine systems are powerful models for describing both non-linear and hybrid systems. One of the key problems in controlling these systems is the inherent computational complexity of controller synthesis and analysis, especially if constraints on states and inputs are present. This paper illustrates how reachability analysis based on multi-parametric programming may serve to obtain controllers of low complexity. Specifically, two different controller computation schemes are presented. In addition, a method to obtain stability guarantees for general receding horizon control of PWA systems is given.