?url_ver=Z39.88-2004&rft_id=10.3182%2F20110828-6-IT-1002.03206&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.aufirst=Alberto&rft.aulast=Bemporad&rft.au=Bemporad%2C+Alberto&rft.isbn=978-3-902661-93-7&rft.date=2011&rft.btitle=Proceedings+of+the+18th+IFAC+World+Congress%2C+2011&rft.title=Decentralized+hierarchical+multi-rate+control+of+constrained+linear+systems&rft.genre=bookitem