Predictive Control for linear and hybrid systems. Borrelli, F., Bemporad, A, & Morari, M. 2015.
bibtex   
@misc{borrelli_predictive_2015,
	title = {Predictive {Control} for linear and hybrid systems},
	author = {Borrelli, Francesco and Bemporad, A and Morari, Manfred},
	year = {2015},
	keywords = {optimisation, report}
}

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