@article{carson2008robust,
  title={A robust model predictive control algorithm 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 MacMynowski, Douglas G},
  journal={IFAC Proceedings Volumes},
  volume={41},
  number={2},
  pages={13175--13181},
  year={2008},
  publisher={Elsevier}
}

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