Bibtex entry

@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}
        }

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