?url_ver=Z39.88-2004&rft_id=10.3182%2F20100901-3-IT-2016.00172&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.aufirst=Matteo&rft.aulast=Rubagotti&rft.au=Rubagotti%2C+Matteo&rft.issn=1474-6670&rft.title=A+nonlinear+model+predictive+control+scheme+with+multirate+integral+sliding+mode&rft.btitle=8th+IFAC+Symposium+on+Nonlinear+Control+Systems&rft.date=2010&rft.genre=bookitem