@article{CC_2008_37_1_a5,
     author = {{\L}awry\'nczuk, Maciej and Tadej, Wojciech},
     title = {A computationally efficient stable dual-mode type nonlinear predictive control algorithm},
     journal = {Control and Cybernetics},
     pages = {99--132},
     publisher = {mathdoc},
     volume = {37},
     number = {1},
     year = {2008},
     zbl = {1153.93012},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/CC_2008_37_1_a5/}
}