'A practical method to deal with constraints' (Control, Robotics and Sensors, 2011), 'Advanced Control for Constrained Processes and Systems ', Chap. 2, pp. 17-52, DOI: 10.1049/PBCE075E_ch2
IET Digital Library, https://digital-library.theiet.org/;jsessionid=1jvihrm182566.x-iet-live-01content/books/10.1049/pbce075e_ch2