@article{
DeSvan:01-01,
author={B. {D}e Schutter and T.J.J. van den Boom},
title={{MPC} for Discrete-Event Systems with Soft and Hard Synchronisation
Constraints},
journal={International Journal of Control},
volume={76},
number={1},
pages={82--94},
month=jan,
year={2003},
doi={
10.1080/0020717021000049188}
}