?url_ver=Z39.88-2004&rft_id=10.1109%2FCDC.1998.758479&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.aulast=Bemporad&rft.aufirst=Alberto&rft.au=Bemporad%2C+Alberto&rft.isbn=0-7803-4394-8+&rft.date=1998&rft.btitle=Decision+and+Control+Conference&rft.title=Reducing+conservativeness+in+predictive+control+of+constrained+systems+with+disturbances&rft.genre=bookitem