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MR1420038 (97k:93017) 93B36 (93E10)
Kothare, Mayuresh V.; Balakrishnan, Venkataramanan; Morari, Manfred Robust constrained model predictive control using linear matrix inequalities. Automatica J. IFAC 32 (1996), no. 10, 1361–1379.
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