@incollection{eprints595,
          author = {Alberto Bemporad and Alessandro Casavola and Edoardo Mosca},
           title = {A nonlinear command governor for constrained control systems},
       publisher = {IFAC},
       booktitle = {13th IFAC World Congress},
           pages = {473--478},
         journal = {13th IFAC World Congress},
            year = {1996},
             url = {http://eprints.imtlucca.it/595/}
}