@ARTICLE\{IMM2001-0175,
    author       = "N. K. Poulsen and B. Kouvaritakis and M. Cannon",
    title        = "Nonlinear Constrained Predictive Control Applied to a Coupled-tank Apparatus",
    year         = "2001",
    pages        = "17-24",
    journal      = "{IEE} proceedings - Control Theory and Applications",
    volume       = "148",
    editor       = "",
    number       = "1",
    publisher    = "",
    url          = "http://www2.compute.dtu.dk/pubdb/pubs/175-full.html"
}