@ARTICLE{ist:brunner16b,
  author = {Brunner, F. D. and Heemels, M. and Allg{\"o}wer, F.},
  title = {Robust self-triggered {MPC} for constrained linear systems: A tube-based
	approach},
  journal = {Automatica},
  year = {2016},
  volume = {72},
  pages = {73--83}
}

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