?url_ver=Z39.88-2004&rft_id=10.3182%2F20090916-3-ES-3003.00004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.au=Bemporad%2C+Alberto&rft.aufirst=Alberto&rft.aulast=Bemporad&rft.date=2009&rft.btitle=Analysis+and+Design+of+Hybrid+Systems&rft.title=Hierarchical+and+hybrid+model+predictive+control+of+quadcopter+air+vehicles&rft.isbn=978-3-902661-59-3&rft.genre=bookitem