?url_ver=Z39.88-2004&rft_id=10.1016%2FS0005-1098(98)00178-2&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.au=Bemporad%2C+Alberto&rft.aufirst=Alberto&rft.aulast=Bemporad&rft.issue=3&rft.pages=407-427&rft.volume=35&rft.date=March+1999&rft.title=Automatica&rft.atitle=Control+of+systems+integrating+logic%2C+dynamics%2C+and+constraints&rft.issn=0005-1098&rft.genre=article