?url_ver=Z39.88-2004&rft_id=10.1007%2F978-0-85729-033-5_5&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.au=Bemporad%2C+Alberto&rft.aulast=Bemporad&rft.aufirst=Alberto&rft.isbn=978-0-85729-032-8&rft.date=2010&rft.title=Decentralized+model+predictive+control+&rft.btitle=Networked+control+systems&rft.genre=bookitem