Improving performance in model predictive control: Switching cost functionals under average dwell-time. Müller, M. A. & Allgöwer, F. Automatica, 48(2):402-409, 2012.
bibtex   
@ARTICLE{ist:muller.ma12a,
  author = {M{\"u}ller, M. A. and Allg{\"o}wer, F.},
  title = {Improving performance in model predictive control: Switching cost
	functionals under average dwell-time},
  journal = {Automatica},
  year = {2012},
  volume = {48},
  pages = {402-409},
  number = {2},
  pubtype = {journal}
}

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