?url_ver=Z39.88-2004&rft_id=10.1109%2FCDC.2010.5717868&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.au=Bemporad%2C+Alberto&rft.aufirst=Alberto&rft.aulast=Bemporad&rft.isbn=978-1-4244-7745-6+&rft.btitle=Decision+and+Control+Conference&rft.title=Synthesis+of+stabilizing+model+predictive+controllers+via+canonical+piecewise+affine+approximations&rft.date=December+2010&rft.genre=bookitem