Cooperative control of dynamically decoupled systems via distributed model predictive control. Müller, M. A., Reble, M., & Allgöwer, F. Int.\ J.\ Robust and Nonlinear Control, 22(12):1376-1397, 2012.
bibtex   
@ARTICLE{ist:muller.ma12b,
  author = {M{\"u}ller, M. A. and Reble, M. and Allg{\"o}wer, F.},
  title = {Cooperative control of dynamically decoupled systems via distributed
	model predictive control},
  journal = {Int.\ J.\ Robust and Nonlinear Control},
  year = {2012},
  volume = {22},
  pages = {1376-1397},
  number = {12},
  pubtype = {journal}
}

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