BibTex format
@inproceedings{Scarciotti:2013:10.3182/20130904-3-FR-2041.00037,
author = {Scarciotti, G and Astolfi, A},
doi = {10.3182/20130904-3-FR-2041.00037},
pages = {199--204},
title = {Approximate finite-horizon optimal control for input-affine nonlinear systems with input constraints},
url = {http://dx.doi.org/10.3182/20130904-3-FR-2041.00037},
year = {2013}
}