?url_ver=Z39.88-2004&rft_id=10.1109%2FTAC.2015.2459211&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.au=Bemporad%2C+Alberto&rft.aufirst=Alberto&rft.aulast=Bemporad&rft.issn=0018-9286&rft.date=2016&rft.title=IEEE+Transactions+on+Automatic+Control&rft.atitle=A+Quadratic+Programming+Algorithm+Based+on+Nonnegative+Least+Squares+with+Applications+to+Embedded+Model+Predictive+Control&rft.issue=4&rft.pages=1111-1116&rft.volume=61&rft.genre=article