BibTex format
@article{Scarciotti:2014:10.1080/23307706.2014.899110,
author = {Scarciotti, G and Astolfi, A},
doi = {10.1080/23307706.2014.899110},
journal = {Journal of Control and Decision},
pages = {149--165},
title = {Approximate finite-horizon optimal control for input-affine nonlinear systems with input constraints},
url = {http://dx.doi.org/10.1080/23307706.2014.899110},
volume = {1},
year = {2014}
}