Robust model predictive control with discrete-time integral sliding surface. Liao, Y. & Hedrick, J K. In 2015 American Control Conference (ACC), pages 1641--1646, 2015. IEEE.
bibtex   
@INPROCEEDINGS{liao2015robust,
  author = {Liao, Yi-Wen and Hedrick, J Karl},
  title = {Robust model predictive control with discrete-time integral sliding
	surface},
  booktitle = {2015 American Control Conference (ACC)},
  year = {2015},
  pages = {1641--1646},
  organization = {IEEE}
}

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