?url_ver=Z39.88-2004&rft_id=10.1109%2FACC.2000.876624&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.aufirst=Alberto&rft.au=Bemporad%2C+Alberto&rft.aulast=Bemporad&rft.isbn=0-7803-5519-9+&rft.date=2000&rft.btitle=American+Control+Conference&rft.title=The+explicit+solution+of+model+predictive+control+via+multiparametric+quadratic+programming+&rft.genre=bookitem