@techreport{
vanHei:02-016a,
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: {E}xtended Report},
number={CSE02-016a},
institution={Control Systems Engineering, Fac.\ of Information Technology and
Systems, Delft University of Technology},
address={Delft, The Netherlands},
month=dec,
year={2006},
note={A short version of this report has been published in \emph{Automatica},
vol.\ 43, no.\ 6, pp.\ 1058--1063, June 2007}
}