?url_ver=Z39.88-2004&rft_id=10.1109%2FACC.1999.786492&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.aufirst=Alberto&rft.au=Bemporad%2C+Alberto&rft.aulast=Bemporad&rft.date=1999&rft.isbn=0-7803-4990-3+&rft.title=Moving+horizon+estimation+for+hybrid+systems+and+fault+detection&rft.btitle=American+Control+Conference&rft.genre=bookitem