[PRMM09]
G. Pannocchia, J. B. Rawlings, D. Q. Mayne, and W. Marquardt,
Computation of the infinite horizon continuous time constrained linear quadratic regular,
In S. Engell and Y. Arkun, Editors, Proc of ADCHEM 2009 (IFAC Symposium of Advanced Control of Chemical Processes), Vol. 1, pp.243-248,
2009
