BibTex format
@article{Pannocchia:2010:10.1109/TAC.2010.2053478,
author = {Pannocchia, G and Rawlings, JB and Mayne, DQ and Marquardt, W},
doi = {10.1109/TAC.2010.2053478},
journal = {IEEE TRANSACTIONS ON AUTOMATIC CONTROL},
pages = {2192--2198},
title = {On Computing Solutions to the Continuous Time Constrained Linear Quadratic Regulator},
url = {http://dx.doi.org/10.1109/TAC.2010.2053478},
volume = {55},
year = {2010}
}