?url_ver=Z39.88-2004&rft_id=10.1109%2FCDC.1997.652338&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.au=Bemporad%2C+Alberto&rft.aufirst=Alberto&rft.aulast=Bemporad&rft.title=Constrained+predictive+control+with+terminal+ellipsoid+constraint+and+artificial+Lyapunov+functions&rft.date=1997&rft.btitle=Decision+and+Control+Conference&rft.isbn=0-7803-4187-2+&rft.genre=bookitem