@TECHREPORT\{IMM1999-02699,
    author       = "N. K. Poulsen and B. Kouvaritakis and M. Cannon",
    title        = "Nonlinear Constrained Predictive Control and its application to a  Coupled-tanks Apparatus",
    year         = "1999",
    pages        = "14",
    number       = "2209",
    series       = "",
    institution  = "Dept. of Engineering Science, University of Oxford, {UK}",
    address      = "",
    type         = "",
    url          = "http://www2.compute.dtu.dk/pubdb/pubs/2699-full.html"
}