@manual{eprints628,
    organization = {IMT Institute for Advanced Studies Lucca},
       publisher = {MathWorks},
         journal = {http://www.mathworks.com/access/helpdesk/help/toolbox/mpc/},
          author = {Alberto Bemporad and Manfred Morari and N. Lawrence Ricker},
       booktitle = {http://www.mathworks.com/access/helpdesk/help/toolbox/mpc/},
           title = {Model Predictive Control Toolbox? User?s Guide},
            year = {2004},
            type = {Manual},
           pages = {--},
             url = {http://eprints.imtlucca.it/628/}
}