@article{
HeShi:24-002,
author={K. He and S. Shi and T. van den Boom and B. {D}e Schutter},
title={Approximate Dynamic Programming for Constrained Linear Systems: {A}
Piecewise Quadratic Approximation Approach},
journal={Automatica},
volume={160},
pages={111456},
month=feb,
year={2024},
doi={
10.1016/j.automatica.2023.111456}
}