@incollection{
DoaKev:13-001,
author={M.D. Doan and T. Keviczky and B. {D}e Schutter},
title={A Hierarchical {MPC} Approach with Guaranteed Feasibility for Dynamically
Coupled Linear Systems},
booktitle={Distributed Model Predictive Control Made Easy},
series={Intelligent Systems, Control and Automation: Science and
Engineering},
volume={69},
editor={R.R. Negenborn and J.M. Maestre},
publisher={Springer},
address={Dordrecht, The Netherlands},
pages={393--406},
year={2014},
doi={
10.1007/978-94-007-7006-5_24}
}