?url_ver=Z39.88-2004&rft_id=10.1016%2FS0005-1098(01)00174-1&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.aufirst=Alberto&rft.aulast=Bemporad&rft.au=Bemporad%2C+Alberto&rft.pages=3-20&rft.issn=0005-1098&rft.atitle=The+Explicit+Linear+Quadratic+Regulator+for+Constrained+Systems&rft.title=Automatica&rft.issue=1&rft.volume=38&rft.date=January+2002&rft.genre=article