?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.aulast=Bemporad&rft.aufirst=Alberto&rft.au=Bemporad%2C+Alberto&rft.date=2009&rft.title=Multiobjective+model+predictive+control+based+on+convex+piecewise+affine+costs&rft.btitle=Proc.+European+Control+Conference&rft.genre=proceeding