Di Cairano, Stefano and Bemporad, Alberto and Kolmanovsky, Ilya and Hrovat, Davor  Model predictive control of nonlinear mechatronic systems: an application to a magnetically actuated mass spring damper.   In:  2nd IFAC Conference on Analysis and Design of Hybrid Systems.   IFAC, pp. 241-246.  ISBN 978-3-902661-06-7      (2006)