@BOOK\{IMM1983-03731,
    author       = "V. V. Vidal and H. Ravn and Z. Nahorski",
    title        = "Optimization of Discrete Time Systems - the upper boundary approach",
    year         = "1983",
    volume       = "",
    number       = "",
    series       = "",
    publisher    = "Spriger Verlag",
    address      = "",
    edition      = "",
    url          = "http://www2.compute.dtu.dk/pubdb/pubs/3731-full.html"
}