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MR2531413 (2010d:93095) 93C41 (93B40 93C55)
Angeli, David; Casavola, Alessandro; Franzè, Giuseppe; Mosca, Edoardo An ellipsoidal off-line MPC scheme for uncertain polytopic discrete-time systems. Automatica J. IFAC 44 (2008), no. 12, 3113–3119.
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