Robust model predictive control with disturbance invariant sets. Yu, S., Böhm, C., Chen, H., & Allgöwer, F. In Proc.\ American Control Conf.\ (ACC), pages 6262–6267, Baltimore, MD, USA, 2010.
bibtex   
@INPROCEEDINGS{ist:yu10a,
  author = {Yu, S. and B{\"o}hm, C. and Chen, H. and Allg{\"o}wer, F.},
  title = {Robust model predictive control with disturbance invariant sets},
  booktitle = {Proc.\ American Control Conf.\ (ACC)},
  year = {2010},
  pages = {6262--6267},
  address = {Baltimore, MD, USA}
}

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