?url_ver=Z39.88-2004&rft_id=10.1007%2F978-3-540-72699-9_7&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.au=Lazar%2C+Mircea&rft.aufirst=Mircea&rft.aulast=Lazar&rft.title=Discrete-time+non-smooth+nonlinear+MPC%3A+Stability+and+robustness&rft.btitle=Assessment+and+Future+Directions+of+Nonlinear+Model+Predictive+Control&rft.date=2007&rft.isbn=978-3-540-72698-2&rft.genre=bookitem