@article{Bemporad_1999,
    doi = {10.1016/s0005-1098(98)00178-2},
    url = {https://doi.org/10.1016%2Fs0005-1098%2898%2900178-2},
    year = {1999},
    month = {mar},
    publisher = {Elsevier {BV}},
    volume = {35},
    number = {3},
    pages = {407--427},
    author = {Alberto Bemporad and Manfred Morari},
    title = {Control of systems integrating logic, dynamics, and constraints},
    journal = {Automatica}
}

@article{Bemporad_1999, doi = {10.1016/s0005-1098(98)00178-2}, url = {https://doi.org/10.1016%2Fs0005-1098%2898%2900178-2}, year = {1999}, month = {mar}, publisher = {Elsevier {BV}}, volume = {35}, number = {3}, pages = {407--427}, author = {Alberto Bemporad and Manfred Morari}, title = {Control of systems integrating logic, dynamics, and constraints}, journal = {Automatica} }