@article{eprints424,
           pages = {110--119},
          author = {K Asano and Koji Tsuda and Alberto Bemporad and Manfred Morari},
           title = {Predictive control for hybrid systems and its application to process control},
            year = {2002},
          volume = {46},
          number = {3},
       publisher = {Institute of Systems, Control and Information Engineers},
         journal = {Systems, Control and Information},
             url = {http://eprints.imtlucca.it/424/}
}