BibTex format
@article{Rakovic:2006,
author = {Rakovic, SV and Kerrigan, EC and Mayne, DQ and Lygeros, J},
journal = {IEEE Transactions on Automatic Control},
pages = {546--561},
title = {Reachability analysis of discrete-time systems with disturbances},
volume = {51},
year = {2006}
}