Infinite horizon performance bounds for uncertain constrained systems. Parys, Van, B, Goulart, P., & Morari, M IEEE Transactions on Automatic Control, 2013.
Infinite horizon performance bounds for uncertain constrained systems [link]Paper  bibtex   
@article{ VanParys2013,
  author = {Parys, B Van and Goulart, P.J. and Morari, M},
  journal = {IEEE Transactions on Automatic Control},
  keywords = {Energy optimization},
  title = {{Infinite horizon performance bounds for uncertain constrained systems}},
  url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6544250},
  year = {2013}
}

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