@article{
vanHei:02-016,
author={T.J.J. van den Boom and B. Heidergott and B. {D}e Schutter},
title={Complexity Reduction in {MPC} for Stochastic Max-Plus-Linear Discrete
Event Systems by Variability Expansion},
journal={Automatica},
volume={43},
number={6},
pages={1058--1063},
month=jun,
year={2007},
doi={
10.1016/j.automatica.2006.11.023}
}