@article{JCA_2008_15_4_JCA_2008_15_4_a13,
     author = {J. Wan and J. Veh{\'\i} and N. Luo},
     title = {Nonlinear {Contractive} {Model} {Predictive} {Control} via {Polytopic} {Robust} {Controllable} {Sets}},
     journal = {Journal of convex analysis},
     pages = {905--917},
     publisher = {mathdoc},
     volume = {15},
     number = {4},
     year = {2008},
     url = {http://geodesic.mathdoc.fr/item/JCA_2008_15_4_JCA_2008_15_4_a13/}
}