@article{
BemHee:02-003,
author={A. Bemporad and W.P.M.H. Heemels and B. {D}e Schutter},
title={On hybrid systems and closed-loop {MPC} systems},
journal={IEEE Transactions on Automatic Control},
volume={47},
number={5},
pages={863--869},
month=may,
year={2002},
doi={
10.1109/TAC.2002.1000287}
}