?url_ver=Z39.88-2004&rft_id=10.1109%2FACC.1997.612085&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.au=Bemporad%2C+Alberto&rft.aufirst=Alberto&rft.aulast=Bemporad&rft.isbn=0-7803-3832-4+&rft.btitle=American+Control+Conference&rft.title=Control+of+constrained+nonlinear+systems+via+reference+management&rft.date=1997&rft.genre=bookitem