@TECHREPORT\{IMM1995-02744,
    author       = "A. D. Hansen and N. K. Poulsen",
    title        = "Level and Rate Constraints in Predictive Control",
    year         = "1995",
    number       = "20",
    series       = "",
    institution  = "imsordth",
    address      = "",
    type         = "",
    url          = "http://www2.compute.dtu.dk/pubdb/pubs/2744-full.html"
}