@ARTICLE\{IMM2007-05363,
    author       = "J. B. Rawlings and D. Bonn\'{e} and J. B. J{\o}rgensen and A. Venkat and S. B. J{\o}rgensen",
    title        = "Unreachable Setpoints in Model Predictive Control",
    year         = "2007",
    month        = "jun",
    journal      = "{IEEE} Transactions on Automatic Control",
    volume       = "",
    editor       = "",
    number       = "",
    publisher    = "",
    url          = "http://www2.compute.dtu.dk/pubdb/pubs/5363-full.html"
}