@article{carson2013robust,
  title={A robust model predictive control algorithm augmented with a reactive safety mode},
  author={Carson III, John M and A\c{c}\i kme\c{s}e, Beh\c{c}et and Murray, Richard M and MacMartin, Douglas G},
  journal={Automatica},
  volume={49},
  number={5},
  pages={1251--1260},
  year={2013},
  publisher={Pergamon}
}

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