?url_ver=Z39.88-2004&rft_id=10.1109%2FTAC.2011.2141410&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.aufirst=Alberto&rft.aulast=Bemporad&rft.au=Bemporad%2C+Alberto&rft.title=IEEE+Transactions+on+Automatic+Control+&rft.issue=12&rft.volume=56&rft.date=December+2011&rft.atitle=Ultra-fast+stabilizing+model+predictive+control+via+canonical+piecewise+affine+approximations&rft.pages=2883-2897+&rft.issn=0018-9286&rft.genre=article