?url_ver=Z39.88-2004&rft_id=10.1016%2FS0005-1098(98)00066-1&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.au=Bemporad%2C+Alberto&rft.aulast=Bemporad&rft.aufirst=Alberto&rft.issn=0005-1098&rft.date=October+1998&rft.atitle=A+predictive+controller+with+artificial+Lyapunov+function+for+linear+systems+with+input%2Fstate+constraints&rft.title=Automatica&rft.issue=10&rft.pages=1255-1260&rft.volume=34&rft.genre=article