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@article{Alvarado_JPC_RMPC_20,
title={Tractable robust {MPC} design based on nominal predictions},
author={Alvarado, Ignacio and Krupa, Pablo and Limon, Daniel and Alamo, Teodoro},
journal={Journal of Process Control},
volume={111},
pages={75--85},
year={2022},
doi={10.1016/j.jprocont.2022.01.006},
}
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@article{Alamo_TAC_2022,
title={Restart of accelerated first order methods with linear convergence under a quadratic functional growth condition},
author={Alamo, Teodoro and Krupa, Pablo and Limon, Daniel},
journal={IEEE Transactions on Automatic Control},
year={2022},
doi={10.1109/TAC.2022.3146054},
}
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@article{Krupa_TAC_2020,
title={Harmonic based model predictive control for set-point tracking},
author={Krupa, Pablo and Limon, Daniel and Alamo, Teodoro},
journal={IEEE Transactions on Automatic Control},
year={2022},
volume={67},
number={1},
pages={48--62},
publisher={IEEE},
doi = {10.1109/TAC.2020.3047579},
}
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@ARTICLE{9670689,
author={Nadales, J. M. and Manzano, J. M. and Barriga, A. and Limon, D.},
journal={IEEE Transactions on Control Systems Technology},
title={Efficient FPGA Parallelization of Lipschitz Interpolation for Real-Time Decision-Making},
year={2022},
volume={},
number={},
pages={1-13},
doi={10.1109/TCST.2021.3136616}}
- [5] Krupa, Pablo, Limon, Daniel, Alamo, Teodoro: Implementation of Model Predictive Control in Programmable Logic Controllers. En: IEEE Transactions on Control Systems Technology. 2021. Vol. 29. Núm. 3. Pag. 1117-1130. 10.1109/TCST.2020.2992959
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@article{krupa2020implementation,
title={Implementation of model predictive control in programmable logic controllers},
author={Krupa, Pablo and Limon, Daniel and Alamo, Teodoro},
journal={IEEE Transactions on Control Systems Technology},
volume={29},
number={3},
pages={1117--1130},
year={2020},
publisher={IEEE}
}
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@article{Krupa_TCST_21,
title={Implementation of model predictive control for tracking in embedded systems using a sparse extended {ADMM} algorithm},
author={Krupa, Pablo and Alvarado, Ignacio and Limon, Daniel and Alamo, Teodoro},
journal={Transactions on Control Systems Technology},
year={2021},
note={doi: 10.1109/TCST.2021.3128824}
}
- [7] Manzano, J.M., Limón Marruedo, Daniel, Muñoz de la Peña Sequedo, David, Calliess, Jan:Robust learning-based MPC for nonlinear constrained systems. En: Automatica. 2020. Vol. 117. Núm. 108948. Pag. 1-7. 10.1016/j.automatica.2020.108948
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@article{manzano2020robust,
title={Robust learning-based MPC for nonlinear constrained systems},
author={Manzano, Jos{\'e} Mar{\'\i}a and Limon, Daniel and de la Pe{\~n}a, David Mu{\~n}oz and Calliess, Jan-Peter},
journal={Automatica},
volume={117},
pages={108948},
year={2020},
publisher={Elsevier}
}
- [8] Manzano, J.M., Muñoz de la Peña Sequedo, David, Calliess, Jan, Limón Marruedo, Daniel:Online learning constrained model predictive control based on double prediction. En: International Journal of Robust and Nonlinear Control. 2020. https://doi.org/10.1002/rnc.5124
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@article{manzano2020online,
title={Online learning constrained model predictive control based on double prediction},
author={Manzano, JM and Mu{\~n}oz de la Pe{\~n}a, D and Calliess, J and Limon, D},
journal={International Journal of Robust and Nonlinear Control},
year={2020},
publisher={Wiley Online Library}
}
- [9] Manzano, J.M., Limón Marruedo, Daniel, Muñoz de la Peña Sequedo, David, Calliess, Jan Peter:Output Feedback MPC based on Smoothed Projected Kinky Inference. En: IET Control Theory and Applications. 2019. Vol. 13. Núm. 6. Pag. 795-805. 10.1049/iet-cta.2018.5522
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@article{manzano2019output,
title={Output feedback MPC based on smoothed projected kinky inference},
author={Manzano, Jose Maria and Limon, Daniel and de la Pe{\~n}a, David Mu{\~n}oz and Calliess, JanPeter},
journal={IET Control Theory \& Applications},
volume={13},
number={6},
pages={795--805},
year={2019},
publisher={IET}
}
- [10] Cotorruelo, Andrés, Limón Marruedo, Daniel, Garone, Emanuele:Output Admissible Sets and Reference Governors: Saturations are not Constraints!. En: IEEE Transactions on Automatic Control. 2019. 10.1109/Tac.2019.2921672
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@article{cotorruelo2019output,
title={Output Admissible Sets and Reference Governors: Saturations Are Not Constraints!},
author={Cotorruelo, Andres and Limon, Daniel and Garone, Emanuele},
journal={IEEE Transactions on Automatic Control},
volume={65},
number={3},
pages={1192--1196},
year={2019},
publisher={IEEE}
}
- [11] Hosseinzadeh, Mehdi, Cotorruelo, Andrés, Limón Marruedo, Daniel, Garone, Emanuele:Constrained Control of Linear Systems Subject to Combinations of Intersections and Unions of Concave Constraints. En: IEEE Control Systems Letters. 2019. Vol. 3. Núm. 3. Pag. 571-576. 10.1109/Lcsys.2019.2913455
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@article{hosseinzadeh2019constrained,
title={Constrained control of linear systems subject to combinations of intersections and unions of concave constraints},
author={Hosseinzadeh, Mehdi and Cotorruelo, Andres and Limon, Daniel and Garone, Emanuele},
journal={IEEE Control Systems Letters},
volume={3},
number={3},
pages={571--576},
year={2019},
publisher={IEEE}
}
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@article{kim2015quality,
title={Quality-aware streaming and scheduling for device-to-device video delivery},
author={Kim, Joongheon and Caire, Giuseppe and Molisch, Andreas F},
journal={IEEE/ACM Transactions on Networking},
volume={24},
number={4},
pages={2319--2331},
year={2015},
publisher={IEEE}
}
- [13] Ferramosca, Antonio, González, Alejandro H., Limón Marruedo, Daniel:Offset-free multi-model economic model predictive control for changing economic criterion. En: Journal of Process Control. 2017. Vol. 54. Núm. 6. Pag. 1-13. 10.1016/j.jprocont.2017.02.014
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@article{ferramosca2017offset,
title={Offset-free multi-model economic model predictive control for changing economic criterion},
author={Ferramosca, Antonio and Gonz{\'a}lez, Alejandro H and Limon, Daniel},
journal={Journal of Process Control},
volume={54},
pages={1--13},
year={2017},
publisher={Elsevier}
}
- [14] Pereira Martín , Mario, Muñoz de la Peña Sequedo, David, Limón Marruedo, Daniel, Alvarado Aldea, Ignacio, Alamo Cantarero, Teodoro:Robust Model Predictive Controller for Tracking Changing Periodic Signals. En: IEEE Transactions on Automatic Control. 2017. 10.1109/Tac.2016.2636751
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@article{pereira2016robust,
title={Robust model predictive controller for tracking changing periodic signals},
author={Pereira, Mario and de la Pena, D Munoz and Lim{\'o}n, Daniel and Alvarado, Ignacio and Alamo, Teodoro},
journal={IEEE Transactions on Automatic Control},
volume={62},
number={10},
pages={5343--5350},
year={2016},
publisher={IEEE}
}
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@article{pereira2017robust,
title={Robust economic model predictive control of a community micro-grid},
author={Pereira, Mario and De La Pena, D Munoz and Lim{\'o}n, Daniel},
journal={Renewable Energy},
volume={100},
pages={3--17},
year={2017},
publisher={Elsevier}
}
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@article{pereira2016application,
title={Application to a drinking water network of robust periodic MPC},
author={Pereira, Mario and de la Pe{\~n}a, David Mu{\~n}oz and Limon, Daniel and Alvarado, Ignacio and Alamo, Teodoro},
journal={Control Engineering Practice},
volume={57},
pages={50--60},
year={2016},
publisher={Elsevier}
}
- [17] Limón Marruedo, Daniel, Muñoz de la Peña Sequedo, David, Jones, Colin N:Editorial: Special section on Nonlinear Model Predictive Control. En: Annual Reviews in Control. 2016. Vol. 41. Pag. 183-183. 10.1016/j.arcontrol.2016.04.007
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@article{limon2016special,
title={Special section on nonlinear model predictive control},
author={Limon, Daniel and de la Pe{\~n}a, David Mu{\~n}oz and Jones, Colin N},
journal={Annual Reviews in Control},
volume={100},
number={41},
pages={183},
year={2016}
}
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@article{de2016distributed,
title={Distributed Satisficing MPC With Guarantee of Stability},
author={de Lima, ML and Limon, D and de la Pena, DM and Camponogara, E},
journal={IEEE Transactions on Automatic Control},
volume={61},
number={2},
pages={532--537},
year={2016},
publisher={IEEE-Institute of Electrical and Electronics Engineers, Inc., New York, USA}
}
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@article{limon2015mpc,
title={MPC for tracking periodic references},
author={Limon, Daniel and Pereira, Mario and de la Pena, David Munoz and Alamo, Teodoro and Jones, Colin N and Zeilinger, Melanie N},
journal={IEEE Transactions on Automatic Control},
volume={61},
number={4},
pages={1123--1128},
year={2015},
publisher={IEEE}
}
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@article{pereira2015periodic,
title={Periodic economic control of a nonisolated microgrid},
author={Pereira, Mario and Limon, Daniel and de la Pe{\~n}a, David Mu{\~n}oz and Valverde, Luis and Alamo, Teodoro},
journal={IEEE Transactions on industrial electronics},
volume={62},
number={8},
pages={5247--5255},
year={2015},
publisher={IEEE}
}
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@article{gruber2015convex,
title={A convex approach for NMPC based on second order Volterra series models},
author={Gruber, JK and Ramirez, DR and Limon, D and Alamo, T},
journal={International Journal of Robust and Nonlinear Control},
volume={25},
number={18},
pages={3546--3571},
year={2015},
publisher={Wiley Online Library}
}
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@article{de2015distributed,
title={Distributed satisficing MPC with guarantee of stability},
author={de Lima, Marcelo Lopes and Limon, Daniel and de la Pena, David Munoz and Camponogara, Eduardo},
journal={IEEE Transactions on Automatic Control},
volume={61},
number={2},
pages={532--537},
year={2015},
publisher={IEEE}
}
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@article{ferramosca2014economic,
title={On Economic Optimality of Model Predictive Control},
author={Ferramosca, Antonio and Gonzalez, Alejandro and Limon, Daniel and Bustos, German and Godoy, Jose Luis and Marchetti, Jacinto},
journal={IEEE Latin America Transactions},
volume={12},
number={7},
pages={1234--1241},
year={2014},
publisher={IEEE}
}
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@article{ferramosca2014economic,
title={Economic MPC for a changing economic criterion for linear systems},
author={Ferramosca, Antonio and Limon, Daniel and Camacho, Eduardo F},
journal={IEEE Transactions on Automatic Control},
volume={59},
number={10},
pages={2657--2667},
year={2014},
publisher={IEEE}
}
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@article{alamo2014gradient,
title={A gradient-based strategy for the one-layer RTO+ MPC controller},
author={Alamo, Teodoro and Ferramosca, Antonio and Gonz{\'a}lez, Alejandro H and Limon, Daniel and Odloak, Darci},
journal={Journal of Process Control},
volume={24},
number={4},
pages={435--447},
year={2014},
publisher={Elsevier}
}
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@article{limon2014single,
title={Single-layer economic model predictive control for periodic operation},
author={Limon, Daniel and Pereira, Mario and De La Pe{\~n}a, D Mu{\~n}oz and Alamo, Teodoro and Grosso, Juan Manuel},
journal={Journal of Process Control},
volume={24},
number={8},
pages={1207--1224},
year={2014},
publisher={Elsevier}
}
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@article{santos2013dead,
title={Dead-time compensation of constrained linear systems with bounded disturbances: output feedback case},
author={Santos, Tito LM and Limon, Daniel and Normey-Rico, Julio E and Raffo, Guilherme V},
journal={IET Control Theory \& Applications},
volume={7},
number={1},
pages={52--59},
year={2013},
publisher={IET}
}
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@article{gruber2013computationally,
title={Computationally efficient nonlinear min--max model predictive control based on Volterra series models—Application to a pilot plant},
author={Gruber, JK and Ramirez, DR and Limon, D and Alamo, T},
journal={Journal of Process Control},
volume={23},
number={4},
pages={543--560},
year={2013},
publisher={Elsevier}
}
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@article{ferramosca2013control,
title={Control predictivo para seguimiento de sistemas no lineales. Aplicaci{\'o}n a una planta piloto.},
author={Ferramosca, Antonio and Gruber, Jorn Klaas and Limon, D and Camacho, Eduardo F},
year={2013},
publisher={Elsevier}
}
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@article{ferramosca2013cooperative,
title={Cooperative distributed MPC for tracking},
author={Ferramosca, Antonio and Lim{\'o}n, Daniel and Alvarado, Ignacio and Camacho, Eduardo F},
journal={Automatica},
volume={49},
number={4},
pages={906--914},
year={2013},
publisher={Elsevier}
}
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@article{zhou2011automatic,
title={Automatic model-based control scheme for stabilizing pressure during dual-gradient drilling},
author={Zhou, Jing and Nygaard, Gerhard},
journal={Journal of Process Control},
volume={21},
number={8},
pages={1138--1147},
year={2011},
publisher={Elsevier}
}
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@article{ferramosca2012robust,
title={Robust MPC for tracking zone regions based on nominal predictions},
author={Ferramosca, Antonio and Limon, Daniel and Gonz{\'a}lez, Alejandro Hern{\'a}n and Alvarado, Ignacio and Camacho, Eduardo F},
journal={Journal of Process Control},
volume={22},
number={10},
pages={1966--1974},
year={2012},
publisher={Elsevier}
}
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@article{alvarado2011comparative,
title={A comparative analysis of distributed MPC techniques applied to the HD-MPC four-tank benchmark},
author={Alvarado, Ignacio and Limon, Daniel and De La Pe{\~n}a, D Mu{\~n}oz and Maestre, Jos{\'e} Mar{\'\i}a and Ridao, MA and Scheu, H and Marquardt, W and Negenborn, RR and De Schutter, B and Valencia, F and others},
journal={Journal of Process Control},
volume={21},
number={5},
pages={800--815},
year={2011},
publisher={Elsevier}
}
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@article{ferramosca2011optimal,
title={Optimal MPC for tracking of constrained linear systems},
author={Ferramosca, Antonio and Limon, Daniel and Alvarado, Ignacio and Alamo, Teodoro and Casta{\~n}o, F and Camacho, Eduardo F},
journal={International Journal of Systems Science},
volume={42},
number={8},
pages={1265--1276},
year={2011},
publisher={Taylor \& Francis}
}
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@article{ferramosca2010mpc,
title={MPC for tracking zone regions},
author={Ferramosca, Antonio and Limon, Daniel and Gonz{\'a}lez, Alejandro Hern{\'a}n and Odloak, Darci and Camacho, Eduardo F},
journal={Journal of Process Control},
volume={20},
number={4},
pages={506--516},
year={2010},
publisher={Elsevier}
}
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@article{camacho2010model,
title={Model predictive control techniques for hybrid systems},
author={Camacho, Eduardo F and Ram{\'\i}rez, Daniel R and Lim{\'o}n, Daniel and De La Pe{\~n}a, D Mu{\~n}oz and Alamo, Teodoro},
journal={Annual reviews in control},
volume={34},
number={1},
pages={21--31},
year={2010},
publisher={Elsevier}
}
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@article{limon2010robust,
title={Robust tube-based MPC for tracking of constrained linear systems with additive disturbances},
author={Lim{\'o}n, Daniel and Alvarado, Ignacio and Alamo, TEFC and Camacho, Eduardo F},
journal={Journal of Process Control},
volume={20},
number={3},
pages={248--260},
year={2010},
publisher={Elsevier}
}
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@article{ferramosca2009mpc,
title={MPC for tracking with optimal closed-loop performance},
author={Ferramosca, A and Limon, D and Alvarado, I and Alamo, T and Camacho, EF},
journal={Automatica},
volume={45},
number={8},
pages={1975--1978},
year={2009},
publisher={Elsevier}
}
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@article{raimondo2009min,
title={Min-max model predictive control of nonlinear systems: A unifying overview on stability},
author={Raimondo, Davide Martino and Limon, Daniel and Lazar, Mircea and Magni, Lalo and ndez Camacho, Eduardo Fern{\'a}},
journal={European Journal of Control},
volume={15},
number={1},
pages={5--21},
year={2009},
publisher={Elsevier}
}
- [40] Limón Marruedo, Daniel, Alvarado Aldea, Ignacio, Alamo Cantarero, Teodoro, Fernández Camacho, Eduardo:MPC for Tracking Piecewise Constant References for Constrained Linear Systems. En: Automatica. 2008. Vol. 44. Núm. 9. Pag. 2382-2387
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@article{limon2008mpc,
title={MPC for tracking piecewise constant references for constrained linear systems},
author={Lim{\'o}n, Daniel and Alvarado, Ignacio and Alamo, Teodoro and Camacho, Eduardo F},
journal={Automatica},
volume={44},
number={9},
pages={2382--2387},
year={2008},
publisher={Elsevier}
}
- [41] Gomes da Silva,J.m, Limón Marruedo, Daniel, Alamo Cantarero, Teodoro, Fernández Camacho, Eduardo:Dynamic Output Feedback for Discrete-Time Systems Under Amplitude and Rate Actuator Constraints. En: IEEE Transactions on Automatic Control. 2008. Vol. 53. Núm. 10. Pag. 2367-2372
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@article{silva2008dynamic,
title={Dynamic output feedback for discrete-time systems under amplitude and rate actuator constraints},
author={Silva Junior, Joao Manoel Gomes da and Limon Marruedo, Daniel and Alamo Cantarero, Teodoro Rafael and Camacho, Eduardo F},
journal={IEEE transactions on automatic control. New York, NY. vol. 53, no. 10 (Nov. 2008), p. 2367-2372},
year={2008}
}
- [42] Alamo Cantarero, Teodoro, Muñoz de la Peña Sequedo, David, Alvarado Aldea, Ignacio, Limón Marruedo, Daniel:Editorial: Discussion on: GPC Robust Design Using Linear and/or Bilinear Matrix Inequalities. En: European Journal Of Control. 2007. Vol. 13. Núm. 5. Pag. 468-472
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@article{alamo2007discussion,
title={Discussion on:“GPC Robust Design Using Linear and/or Bilinear Matrix Inequalities”},
author={Alamo, Teodoro and de la Pe{\~n}a, David Mu{\~n}oz and Alvarado, Ignacio and Limon, Daniel},
journal={European Journal of Control},
volume={13},
number={5},
pages={470--472},
year={2007},
publisher={Elsevier}
}
- [43] Limón Marruedo, Daniel, Alamo Cantarero, Teodoro, Salas Gomez, Francisco, Fernández Camacho, Eduardo:Input to State Stability of Min-Max MPC Controllers for Nonlinear Systems With Bounded Uncertainties. En: Automatica. 2006. Vol. 42. Núm. 5. Pag. 797-803
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@article{limon2006input,
title={Input to state stability of min--max MPC controllers for nonlinear systems with bounded uncertainties},
author={Lim{\'o}n, Daniel and Alamo, Teodoro and Salas, Francisco and Camacho, Eduardo F},
journal={Automatica},
volume={42},
number={5},
pages={797--803},
year={2006},
publisher={Elsevier}
}
- [44] Alamo Cantarero, Teodoro, Cepeda Caballos, Alfonso, Limón Marruedo, Daniel, Fernández Camacho, Eduardo:A New Concept of Invariance for Saturated Systems. En: Automatica. 2006. Vol. 42. Núm. 9. Pag. 1515-1521
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@article{alamo2005new,
title={A new concept of invariance for saturated systems},
author={Alamo Cantarero, Teodoro and Cepeda Caballos, Alfonso and Lim{\'o}n Marruedo, Daniel and Fern{\'a}ndez Camacho, Eduardo},
journal={Automatica, 38 (1), 43-48.},
year={2005},
publisher={Elsevier}
}
- [45] Limón Marruedo, Daniel, Alamo Cantarero, Teodoro, Salas Gomez, Francisco, Fernández Camacho, Eduardo:On. the Stability of Constrained MPC Without Terminal Constraint. En: IEEE Transactions on Automatic Control. 2006. Vol. 51. Núm. 5. Pag. 832-836
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@article{limon2006stability,
title={On the stability of constrained MPC without terminal constraint},
author={Lim{\'o}n, Daniel and Alamo, Teodoro and Salas, Francisco and Camacho, Eduardo F},
journal={IEEE transactions on automatic control},
volume={51},
number={5},
pages={832--836},
year={2006},
publisher={IEEE}
}
- [46] Alamo Cantarero, Teodoro, Cepeda Caballos, Alfonso, Limón Marruedo, Daniel, Fernández Camacho, Eduardo:Estimation of the Domain of Attraction for Saturated Discrete-Time Systems. En: International Journal of Systems Science. 2006. Vol. 37. Núm. 8. Pag. 575-583
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@article{alamo2006estimation,
title={Estimation of the domain of attraction for saturated discrete-time systems},
author={Alamo, Teodoro and Cepeda, A and Lim{\'o}n, Daniel and Camacho, Eduardo F},
journal={International journal of systems science},
volume={37},
number={8},
pages={575--583},
year={2006},
publisher={Taylor \& Francis}
}
- [47] Limón Marruedo, Daniel, Alamo Cantarero, Teodoro, Fernández Camacho, Eduardo:Enlarging the Domain of Attraction of MPC Controllers - Brief Paper. En: Automatica. 2005. Vol. 41. Núm. 4. Pag. 629-635
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@article{limon2005enlarging,
title={Enlarging the domain of attraction of MPC controllers},
author={Lim{\'o}n Marruedo, Daniel and Alamo Cantarero, Teodoro and Fern{\'a}ndez Camacho, Eduardo},
journal={Automatica, 41 (4), 629-635.},
year={2005},
publisher={Elsevier}
}
- [48] Limón Marruedo, Daniel, Bravo Caro, José Manuel, Alamo Cantarero, Teodoro, Fernández Camacho, Eduardo:Robust MPC of Constrained Nonlinear Systems Based on Interval Arithmetic. En: IEE proceedings. Control Theory and Applications. 2005. Vol. 152. Núm. 3. Pag. 325-332
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@article{limon2005robust,
title={Robust MPC of constrained nonlinear systems based on interval arithmetic},
author={Limon, D and Bravo, JM and Alamo, T and Camacho, EF},
journal={IEE Proceedings-Control Theory and Applications},
volume={152},
number={3},
pages={325--332},
year={2005},
publisher={IET}
}
- [49] Alamo Cantarero, Teodoro, Muñoz de la Peña Sequedo, David, Limón Marruedo, Daniel, Fernández Camacho, Eduardo:Constrained Min-Max Predictive Control: Modifications of the Objective Function Leading to Polynomial Complexity. En: IEEE Transactions on Automatic Control. 2005. Vol. 50. Núm. 5. Pag. 710-714
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@article{alamo2005constrained,
title={Constrained min-max predictive control: Modifications of the objective function leading to polynomial complexity},
author={Alamo, Teodoro and de la Pena, David Mu{\~n}oz and Lim{\'o}n, Daniel and Camacho, Eduardo F},
journal={IEEE Transactions on Automatic Control},
volume={50},
number={5},
pages={710--714},
year={2005},
publisher={IEEE}
}
- [50] Limón Marruedo, Daniel, Gomes da Silva,J.m, Alamo Cantarero, Teodoro, Fernández Camacho, Eduardo:Improved MPC Design Based on Saturating Control Laws. En: European Journal Of Control. 2005. Vol. 11. Núm. 2. Pag. 112-122
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@article{limon2005improved,
title={Improved MPC Design based on Saturating Control Laws},
author={Lim{\'o}n Marruedo, Daniel and Gomesda Silva, JM and Alamo Cantarero, Teodoro and Fern{\'a}ndez Camacho, Eduardo},
journal={European Journal Of Control, 11 (2), 112-122.},
year={2005},
publisher={Elsevier}
}
- [51] Bravo Caro, José Manuel, Limón Marruedo, Daniel, Alamo Cantarero, Teodoro, Fernández Camacho, Eduardo:On the Computation of Invariant Sets for Constrained Nonlinear Systems: an Interval Arithmetic Approach. En: Automatica. 2005. Vol. 41. Núm. 9. Pag. 1583-1589
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@article{bravo2005computation,
title={On the computation of invariant sets for constrained nonlinear systems: An interval arithmetic approach},
author={Bravo, Jos{\'e} Manuel and Lim{\'o}n, Daniel and Alamo, Teodoro and Camacho, Eduardo F},
journal={Automatica},
volume={41},
number={9},
pages={1583--1589},
year={2005},
publisher={Elsevier}
}