?url_ver=Z39.88-2004&rft_id=10.1109%2FACC.2001.945973&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.au=Bemporad%2C+Alberto&rft.aufirst=Alberto&rft.aulast=Bemporad&rft.date=2001&rft.title=Optimization-based+hybrid+control+tools&rft.btitle=American+Control+Conference&rft.isbn=0-7803-6495-3+&rft.genre=bookitem