@article{KBM:96,
   author    = {M. Kothare and V. Balakrishnan and M. Morari},
   title     = {Robust constrained model predictive control using
                 linear matrix inequalities},
   journal   = {Automatica},
   year      = {1996},
   month     = nov ,
   volume    = {32},
   number    = {10},
   pages     = {1361-1379}
}