?url_ver=Z39.88-2004&rft_id=10.1109%2F.2001.981046&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.au=Borrelli%2C+Francesco&rft.aulast=Borrelli&rft.aufirst=Francesco&rft.isbn=0-7803-7061-9&rft.btitle=Decision+and+Control+Conference&rft.title=Efficient+on-line+computation+of+constrained+optimal+control+&rft.date=2001&rft.genre=bookitem