@ARTICLE\{IMM2001-0174,
    author       = "N. K. Poulsen and B. Kouvaritakis and M. Cannon",
    title        = "Constrained Predictive Control and its application to a Coupled-tanks Apparatus",
    year         = "2001",
    pages        = "552-564",
    journal      = "International Journal of Control",
    volume       = "74",
    editor       = "",
    number       = "6",
    publisher    = "",
    url          = "http://www2.compute.dtu.dk/pubdb/pubs/174-full.html"
}