?url_ver=Z39.88-2004&rft_id=10.1109%2F.2001.981046++&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.aufirst=Francesco&rft.aulast=Borrelli&rft.au=Borrelli%2C+Francesco&rft.isbn=0-7803-7061-9+&rft.date=2008&rft.title=Efficient+on-line+computation+of+constrained+optimal+control&rft.btitle=Conference+on+Decision+and+Contml&rft.genre=bookitem