Garelli, Fabricio; Mantz, Ricardo J.; De Battista, Hernán: 'Advanced Control for Constrained Processes and Systems' (Control, Robotics and Sensors, 2011) DOI: 
IET Digital Library, https://digital-library.theiet.org/;jsessionid=4299qp2fgqdme.x-iet-live-01content/books/ce/pbce075e