?url_ver=Z39.88-2004&rft_id=doi%3A10.1002%2Frnc.3507&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.aufirst=Matteo&rft.au=Rubagotti%2C+Matteo&rft.aulast=Rubagotti&rft.issue=15&rft.volume=26&rft.date=2016&rft.title=International+Journal+of+Robust+and+Nonlinear+Control&rft.atitle=Real-time+model+predictive+control+based+on+dual+gradient+projection%3A+Theory+and+fixed-point+FPGA+implementation&rft.issn=10498923&rft.pages=3292-3310&rft.genre=article