Continuous-time Generalised Predictive Control (CGPC). Gawthrop, P. J. & Demircioglu, H. Technical Report 88.2, glasgow, 1988.
bibtex   
@techreport{Report88.2,
  author = {P. J. Gawthrop and
		H. Demircioglu},
  title = {Continuous-time Generalised Predictive Control {(CGPC)}},
  type = control,
  institution = glasgow,
  number = {88.2},
  year = 1988
}

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