?url_ver=Z39.88-2004&rft_id=10.1109%2FAIM.1997.652957&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.aufirst=Alberto&rft.aulast=Bemporad&rft.au=Bemporad%2C+Alberto&rft.title=On-line+path+parameterization+for+manipulators+with+input%2Fstate+constraints&rft.btitle=International+Conference+on+Advanced+Intelligent+Mechatronics+&rft.date=1997&rft.genre=bookitem