Bibtex entry

@article{BemHee:02-003,
        author={A. Bemporad and W.P.M.H. Heemels and B. {D}e Schutter},
        title={On hybrid systems and closed-loop {MPC} systems},
        journal={IEEE Transactions on Automatic Control},
        volume={47},
        number={5},
        pages={863--869},
        month=may,
        year={2002},
        doi={10.1109/TAC.2002.1000287}
        }

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