Bibtex entry

@techreport{DoaKev:11-039a,
        author={M.D. Doan and T. Keviczky and B. {D}e Schutter},
        title={A distributed optimization-based approach for hierarchical model predictive control of large-scale systems with coupled dynamics and constraints: Extended report},
        number={11-039},
        institution={Delft Center for Systems and Control, Delft University of Technology},
        address={Delft, The Netherlands},
        month=aug,
        year={2011},
        note={A short version of this paper has been published in the \emph{Proceedings of the 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC)}, Orlando, Florida, pp.\ 5236--5241, Dec.\ 2011}
        }

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