?url_ver=Z39.88-2004&rft_id=doi%3A10.1109%2FTAC.2017.2649043&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.au=Gros%2C+Sebastien&rft.aulast=Gros&rft.aufirst=Sebastien&rft.atitle=Penalty+Functions+for+Handling+Large+Deviation+of+Quadrature+States+in+NMPC&rft.date=2017&rft.issue=8&rft.volume=62&rft.title=IEEE+Transactions+on+Automatic+Control&rft.issn=0018-9286&rft.pages=3848-3860&rft.genre=article