Nonlinear Model Predictive Control of a Four Tank System: An Experimental Stability Study. Raff, T.; Huber, S.; Nagy, Z. K.; and Allgöwer, F. In Proc.\ IEEE Int.\ Conf.\ Control Applications (CCA), pages 237-242, Munich, Germany, 2006.
bibtex   
@INPROCEEDINGS{ist:raff06a,
  author = {Raff, T. and Huber, S. and Nagy, Z. K. and Allg{\"o}wer, F.},
  title = {Nonlinear Model Predictive Control of a Four Tank System: An Experimental
	Stability Study},
  booktitle = {Proc.\ {IEEE} Int.\ Conf.\ Control Applications (CCA)},
  year = {2006},
  pages = {237-242},
  address = {Munich, Germany},
  pubtype = {proceeding}
}
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