?url_ver=Z39.88-2004&rft_id=10.1023%2FA%3A1023696221899&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.au=Bemporad%2C+Alberto&rft.aufirst=Alberto&rft.aulast=Bemporad&rft.title=Journal+of+Optimization+Theory+and+Applications&rft.date=April+2003&rft.issn=0022-3239&rft.issue=1&rft.volume=117&rft.pages=9-38&rft.atitle=Suboptimal+Explicit+Receding+Horizon+Control+via+Approximate+Multiparametric+Quadratic+Programming+&rft.genre=article