@article{eprints4002,
       publisher = {IEEE},
           pages = {3848--3860},
         journal = {IEEE Transactions on Automatic Control},
            year = {2017},
          author = {Sebastien Gros and Mario Zanon},
           title = {Penalty Functions for Handling Large Deviation of Quadrature States in NMPC},
          volume = {62},
          number = {8},
             url = {http://eprints.imtlucca.it/4002/}
}