A game theoretic approach to nonlinear robust receding horizon control of constrained systems. Chen, H., Scherer, C., & Allgöwer, F. In Proc.\ American Control Conf.\ (ACC), pages 3073-3077, Albuquerque, NM, USA, 1997.
bibtex   
@INPROCEEDINGS{ist:chen97b,
  author = {Chen, H. and Scherer, C.W. and Allg{\"o}wer, F.},
  title = {A game theoretic approach to nonlinear robust receding horizon control
	of constrained systems},
  booktitle = {Proc.\ American Control Conf.\ (ACC)},
  year = {1997},
  pages = {3073-3077},
  address = {Albuquerque, NM, USA},
  pubtype = {proceeding}
}

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