Source: http://cse.lab.imtlucca.it/~bemporad/publications/
Timestamp: 2019-04-21 01:09:54+00:00

Document:
A. Bemporad, W.P.M.H. Heemels, and M. Johansson (Eds.), Networked Control Systems, vol. 406 of Lecture Notes in Control and Information Sciences, Springer-Verlag, Berlin Heidelberg, 2010, http://cse.lab.imtlucca.it/hybrid/wide/school09/.
 A. Bemporad, A. Bicchi, and G. Buttazzo (Eds.), Hybrid Systems: Computation and Control, Proceedings of the 10th International Conference, vol. 4416 of Lecture Notes in Computer Science, Springer-Verlag, Berlin Heidelberg, Apr. 2007, 797 p., ISBN: 978-3-540-71492-7, http://cse.lab.imtlucca.it/~bemporad/hybrid/hscc07.
 F. Borrelli, A. Bemporad, and M. Morari, Predictive control for linear and hybrid systems, Cambridge University Press, 2017, http://goo.gl/ALDPGd.
 D. Piga, M. Forgione, S. Formentin, and A. Bemporad, “Performance-oriented model learning for data-driven MPC design,” IEEE Control Systems Letters, 2019, Also appeared in Proc. 58th IEEE Conf. Decision and Control, Nice (France), 2019.
 M. Graf Plessen, L. Puglia, T. Gabbriellini, and A. Bemporad, “Dynamic option hedging with transaction costs: A stochastic model predictive control approach,” Int. J. Robust Nonlinear Control, 2017, In press.
 R. Takapoui, N. Moehle, S. Boyd, and A. Bemporad, “A simple eﬀective heuristic for embedded mixed-integer quadratic programming,” Int. J. Control, 2017, In press.
 A. Khakimova, A. Kusatayeva, A. Shamshimova, D. Sharipova, A. Bemporad, Y. Familiant, A. Shintemirov, V. Ten, and M. Rubagotti, “Optimal energy management of a small-size building via hybrid model predictive control,” Energy and Buildings, 2017, In press.
 S. Gros, M. Zanon, R. Quirynen, A. Bemporad, and M. Diehl, “From linear to nonlinear MPC: bridging the gap via the real-time iteration,” Int. J. Control, 2016, In press.
 G. Cimini and A. Bemporad, “Complexity and convergence certiﬁcation of a block principal pivoting method for box-constrained quadratic programs,” Automatica, vol. 100, pp. 29–37, 2019.
 P. Sopasakis, D. Herceg, A. Bemporad, and P. Patrinos, “Risk-averse model predictive control,” Automatica, vol. 100, pp. 281–288, 2019.
 M. Graf Plessen and A. Bemporad, “A posteriori multistage optimal trading under transaction costs and a diversiﬁcation constraint,” The Journal of Trading, vol. 13, no. 3, pp. 67–83, 2018.
 A. Bemporad, V. Breschi, D. Piga, and S. Boyd, “Fitting jump models,” Automatica, vol. 96, pp. 11–21, Oct. 2018, Also available on arXiv at http://arxiv.org/abs/1711.09220. Code available at http://cse.lab.imtlucca.it/~bemporad/jump_models/.
 A. Bemporad, “A numerically stable solver for positive semi-deﬁnite quadratic programs based on nonnegative least squares,” IEEE Trans. Automatic Control, vol. 63, no. 2, pp. 525–531, 2018.
 D. Piga, S. Formentin, and A. Bemporad, “Direct data-driven control of constrained systems,” IEEE Trans. Contr. Systems Technology, vol. 26, no. 4, pp. 1422–1429, July 2018.
 L. Zhen, L. Xi, A. Bemporad, and S. Lu, “Fast linear parameter varying model predictive control of buck DC-DC converters based on FPGA,” IEEE Access, vol. 6, pp. 52434–52446, 2018.
 R.A.E. Zidek, I.V. Kolmanovsky, and A. Bemporad, “Spacecraft drift counteraction optimal control: Computationally eﬃcient open-loop and receding horizon solutions,” AIAA Journal of Guidance, Control, and Dynamics, vol. 41, no. 965, pp. 1859–1872, 2018.
 G. Cimini and A. Bemporad, “Exact complexity certiﬁcation of active-set methods for quadratic programming,” IEEE Trans. Automatic Control, vol. 62, no. 12, pp. 6094–6109, 2017.
 A.K. Sampathirao, P. Sopasakis, A. Bemporad, and P. Patrinos, “GPU-accelerated stochastic predictive control of drinking water networks,” IEEE Trans. Contr. Systems Technology, vol. 26, no. 2, pp. 551–562, Mar. 2018.
 G. Serale, M. Fiorentini, A. Capozzoli, D. Bernardini, and A. Bemporad, “Model predictive control (MPC) for enhancing buildings and HVAC systems energy eﬃciency: problem formulation, applications and opportunities,” Energies, vol. 11, no. 3, pp. 1–35.
 M. Mejari, D. Piga, and A. Bemporad, “A bias-correction method for closed-loop identication of linear parameter-varying systems,” Automatica, vol. 87, pp. 128–141, 2018.
 M. Graf Plessen, D. Bernardini, H. Esen, and A. Bemporad, “Spatial-based predictive control and geometric corridor planning for adaptive cruise control coupled with obstacle avoidance,” IEEE Trans. Contr. Systems Technology, vol. 26, no. 1, pp. 38–50, 2018.
 G. Gnecco, A. Bemporad, M. Gori, and M. Sanguineti, “LQG online learning,” Neural Computation, vol. 29, no. 8, pp. 2203–2291, 2017.
 S. Sebastio, G. Gnecco, and A. Bemporad, “Optimal distributed task scheduling in volunteer clouds,” Computers and Operations Research, vol. 81, pp. 231–246, 2017.
 M. Graf Plessen and A. Bemporad, “Reference trajectory planning under constraints and path tracking using linear time-varying model predictive control for agricultural machines,” Biosystems Engineering, vol. 153, pp. 28–41, Jan. 2017.
 L. Cavanini, G. Cimini, G. Ippoliti, and A. Bemporad, “Model predictive control for pre-compensated voltage mode controlled DC-DC converters,” IET Control Theory & Applications, vol. 11, no. 15, pp. 2514–2520, 2017.
 A. Bemporad, “A quadratic programming algorithm based on nonnegative least squares with applications to embedded model predictive control,” IEEE Trans. Automatic Control, vol. 61, no. 4, pp. 1111–1116, 2016.
 M. Rubagotti, L. Zaccarian, and A. Bemporad, “A Lyapunov method for stability analysis of piecewise-aﬃne systems over non-invariant domains,” Int. J. Control, vol. 89, no. 5, pp. 950–959, 2016.
 M. Rubagotti, P. Patrinos, A. Guiggiani, and A. Bemporad, “Real-time model predictive control based on dual gradient projection: Theory and ﬁxed-point FPGA implementation,” Int. J. Robust Nonlinear Control, vol. 26, pp. 3292–3310, 2016.
 R. Morisi, G. Gnecco, and A. Bemporad, “A hierarchical consensus method for the approximation of the consensus state, based on clustering and spectral graph theory,” Engineering Applications of Artiﬁcial Intelligence, vol. 56, pp. 157–174, 2016.
 A. Bemporad, “A multiparametric quadratic programming algorithm with polyhedral computations based on nonnegative least squares,” IEEE Trans. Automatic Control, vol. 60, no. 11, pp. 2892–2903, 2015.
 P. Sopasakis, P. Patrinos, H. Sarimveis, and A. Bemporad, “Model predictive control for linear impulsive systems,” IEEE Trans. Automatic Control, vol. 60, no. 8, pp. 2277–2282, 2015.
 A. Bemporad and M. Paggi, “Optimization algorithms for the solution of the frictionless normal contact between rough surfaces,” Int. Journal of Solids and Structures, vol. 69-70, pp. 94–105, Sept. 2015.
 P. Patrinos, A. Guiggiani, and A. Bemporad, “A dual gradient-projection algorithm for model predictive control in ﬁxed-point arithmetic,” Automatica, vol. 55, pp. 226–235, 2015.
 G. Gnecco, R. Morisi, and A. Bemporad, “Sparse solutions to the average consensus problem via various regularizations of the fastest mixing markov-chain problem,” IEEE Trans. Network Science and Engineering, vol. 2, no. 3, pp. 97–111, 2015.
 A. Bemporad, L. Bellucci, and T. Gabbriellini, “Dynamic option hedging via stochastic model predictive control based on scenario simulation,” Quantitative Finance, vol. 14, no. 10, pp. 1739–1751, 2014.
 M. Rubagotti, D. Barcelli, and A. Bemporad, “Robust explicit model predictive control via regular piecewise-aﬃne approximation,” Int. J. Control, vol. 87, no. 12, pp. 2583–2593, 2014.
 S. Di Cairano, W.P.M.H. Heemels, M. Lazar, and A. Bemporad, “Stabilizing dynamic controllers for hybrid systems: A hybrid control Lyapunov function approach,” IEEE Trans. Automatic Control, vol. 59, no. 10, pp. 2629–2643, 2014.
 S. Di Cairano, D. Bernardini, A. Bemporad, and I.V. Kolmanovsky, “Stochastic MPC with learning for driver-predictive vehicle control and its application to HEV energy management,” IEEE Trans. Contr. Systems Technology, vol. 22, pp. 1018–1031, 2014.
 M. Rubagotti, P. Patrinos, and A. Bemporad, “Stabilizing linear model predictive control under inexact numerical optimization,” IEEE Trans. Automatic Control, vol. 59, no. 6, pp. 1660–1666, 2014.
 P. Patrinos and A. Bemporad, “An accelerated dual gradient-projection algorithm for embedded linear model predictive control,” IEEE Trans. Automatic Control, vol. 59, no. 1, pp. 18–33, 2014.
 P. Patrinos, P. Sopasakis, H. Sarimveis, and A. Bemporad, “Stochastic model predictive control for constrained discrete-time Markovian switching systems,” Automatica, vol. 50, no. 10, pp. 2504–2514, 2014.
 J. Júlvez, S. Di Cairano, A. Bemporad, and C. Mahulea, “Event-driven model predictive control of timed hybrid Petri nets,” Int. J. Robust Nonlinear Control, pp. 1099–1239, 2013.
 M. Rubagotti, T. Poggi, A. Oliveri, C.A. Pascucci, A. Bemporad, and M. Storace, “Low-complexity piecewise-aﬃne virtual sensors: Theory and design,” Int. J. Control, vol. 87, no. 3, pp. 622–632, 2013.
 M. Rubagotti, S. Trimboli, and A. Bemporad, “Stability and invariance analysis of uncertain discrete-time piecewise aﬃne systems,” IEEE Trans. Automatic Control, vol. 58, no. 9, pp. 2359–2365, 2013.
 S. Di Cairano, H.E. Tseng, D. Bernardini, and A. Bemporad, “Vehicle yaw stability control by coordinating active front steering and diﬀerential braking in the tire sideslip angles domain,” IEEE Trans. Contr. Systems Technology, vol. 21, no. 4, pp. 1236–1248, July 2013.
 D. Bernardini and A. Bemporad, “Stabilizing model predictive control of stochastic constrained linear systems,” IEEE Trans. Automatic Control, vol. 57, no. 6, pp. 1468–1480, 2012.
 D. Bernardini and A. Bemporad, “Energy-aware robust model predictive control based on noisy wireless sensors,” Automatica, vol. 48, pp. 36–44, 2012.
 A. Jokic, R.M. Hermans, M. Lazar, A. Alessio, P.P.J. van den Bosch, I.A. Hiskens, and A. Bemporad, “Assessment of non-centralized model predictive control techniques for electrical power networks,” Int. J. Control, vol. 85, no. 8, pp. 1162–1177, 2012.
 T. Poggi, M. Rubagotti, A. Bemporad, and M. Storace, “High-speed piecewise aﬃne virtual sensors,” IEEE Transactions on Industrial Electronics, vol. 59, no. 2, pp. 1228–1237, 2012.
 M.C.F. Donkers, W.P.M.H. Heemels, D. Bernadini, A. Bemporad, and V. Shneer, “Stability analysis of stochastic networked control systems,” Automatica, vol. 48, pp. 917–925, 2012.
 S. Di Cairano, D. Yanakiev, A. Bemporad, I.V. Kolmanovsky, and D. Hrovat, “Model predictive idle speed control: Design, analysis, and experimental evaluation,” IEEE Trans. Contr. Systems Technology, vol. 20, no. 1, pp. 84–97, 2012.
 C. Ocampo-Martinez, D. Barcelli, V. Puig, and A. Bemporad, “Hierarchical and decentralised model predictive control of drinking water networks: Application to the Barcelona case study,” IET Control Theory and Applications, vol. 6, no. 1, pp. 62–71, 2012.
 A. Bemporad, A. Oliveri, T. Poggi, and M. Storace, “Ultra-fast stabilizing model predictive control via canonical piecewise aﬃne approximations,” IEEE Trans. Automatic Control, vol. 56, no. 12, pp. 2883–2897, 2011.
 A. Bemporad and S. Di Cairano, “Model-predictive control of discrete hybrid stochastic automata,” IEEE Trans. Automatic Control, vol. 56, no. 6, pp. 1307–1321, 2011.
 A. Alessio, D. Barcelli, and A. Bemporad, “Decentralized model predictive control of dynamically-coupled linear systems,” J. Process Control, vol. 21, no. 5, pp. 705–714, June 2011.
 S. Di Cairano and A. Bemporad, “An equivalence result between linear hybrid automata and piecewise aﬃne systems,” IEEE Trans. Automatic Control, vol. 55, no. 2, pp. 498–502, Feb. 2010.
 S. Di Cairano and A. Bemporad, “Model predictive control tuning by controller matching,” IEEE Trans. Automatic Control, vol. 55, no. 1, pp. 185–190, 2010.
 A. Bemporad, D. Bernardini, F.A. Cuzzola, and A. Spinelli, “Optimization-based feedback control of ﬂatness in a cold tandem rolling,” J. Process Control, vol. 20, pp. 396–407, 2010.
 A. Bemporad, S. Di Cairano, E. Henriksson, and K. H. Johansson, “Hybrid model predictive control based on wireless sensor feedback: An experimental study,” Int. J. Robust Nonlinear Control, vol. 20, pp. 209–225, 2010.
 A. Bemporad and D. Muñoz de la Peña, “Multiobjective model predictive control,” Automatica, vol. 45, pp. 2823–2830, 2009.
 S. Di Cairano, A. Bemporad, and J. Júlvez, “Event-driven optimization-based control of hybrid systems with integral continuous-time dynamics,” Automatica, vol. 45, pp. 1243–1251, 2009.
 A. Bemporad, G. Bianchini, and F. Brogi, “Passivity analysis and passiﬁcation of discrete-time hybrid systems,” IEEE Trans. Automatic Control, vol. 54, no. 4, pp. 1004–1009, 2008.
 M. Baotić, F. Borrelli, A. Bemporad, and M. Morari, “Eﬃcient on-line computation of constrained optimal control,” SIAM Journal on Control and Optimization, vol. 47, no. 5, pp. 2470–2489, 2008.
 P. Menchinelli and A. Bemporad, “Hybrid model predictive control of a solar air conditioning plant,” European Journal of Control, vol. 14, no. 6, pp. 501–515, 2008.
 A. Alessio, M. Lazar, A. Bemporad, and W.P.M.H. Heemels, “Squaring the circle: An algorithm for generating polyhedral invariant sets from ellipsoidal ones,” Automatica, vol. 43, pp. 2096–2103, Dec. 2007.
 S. Di Cairano, A. Bemporad, I. Kolmanovsky, and D. Hrovat, “Model predictive control of magnetically actuated mass spring dampers for automotive applications,” Int. J. Control, vol. 80, no. 11, pp. 1701–1716, 2007.
 G. Pannocchia and A. Bemporad, “Combined design of disturbance model and observer for oﬀset-free model predictive control,” IEEE Trans. Automatic Control, vol. 52, no. 6, pp. 1048–1053, 2007.
 A. Bemporad and N. Giorgetti, “Logic-based methods for optimal control of hybrid systems,” IEEE Trans. Automatic Control, vol. 51, no. 6, pp. 963–976, 2006.
 A. Bemporad, D. Muñoz de la Peña, and P. Piazzesi, “Optimal control of investments for quality of supply improvement in electrical energy distribution networks,” Automatica, vol. 42, no. 8, pp. 1331–1336, 2006, Special issue on “Optimal Control Applications to Management Sciences”.
 A. Bemporad and C. Filippi, “An algorithm for approximate multiparametric convex programming,” Computational Optimization and Applications, vol. 35, no. 1, pp. 87–108, Sept. 2006.
 M. Lazar, W.P.M.H. Heemels, S. Weiland, and A. Bemporad, “Stabilizing model predictive control of hybrid systems,” IEEE Trans. Automatic Control, vol. 51, no. 11, pp. 1813–1818, 2006.
 N. Giorgetti, G. Ripaccioli, A. Bemporad, I.V. Kolmanovsky, and D. Hrovat, “Hybrid model predictive control of direct injection stratiﬁed charge engines,” IEEE/ASME Transactions on Mechatronics, vol. 11, no. 5, pp. 499–506, Aug. 2006.
 D. Muñoz de la Peña, T. Alamo, A. Bemporad, and E.F. Camacho, “A decomposition algorithm for feedback min-max model predictive control,” IEEE Trans. Automatic Control, vol. 51, no. 10, pp. 1688–1692, 2006.
 D. Muñoz de la Peña, A. Bemporad, and C. Filippi, “Robust explicit MPC based on approximate multi-parametric convex programming,” IEEE Trans. Automatic Control, vol. 51, no. 8, pp. 1399–1403, Aug. 2006.
 N. Giorgetti, A. Bemporad, H.E. Tseng, and D. Hrovat, “Hybrid model predictive control application towards optimal semi-active suspension,” Int. J. Control, vol. 79, no. 5, pp. 521–533, 2006.
 C. Seatzu, D. Corona, A. Giua, and A. Bemporad, “Optimal control of continuous-time switched aﬃne systems,” IEEE Trans. Automatic Control, vol. 51, no. 5, pp. 726–741, 2006.
 A. Bemporad, A. Garulli, S. Paoletti, and A. Vicino, “A bounded-error approach to piecewise aﬃne system identiﬁcation,” IEEE Trans. Automatic Control, vol. 50, no. 10, pp. 1567–1580, Oct. 2005.
 A. Bemporad, “Eﬃcient conversion of mixed logical dynamical systems into an equivalent piecewise aﬃne form,” IEEE Trans. Automatic Control, vol. 49, no. 5, pp. 832–838, 2004.
 A. Bemporad, A. Teel, and L. Zaccarian, “Anti-windup synthesis via sampled-data piecewise aﬃne optimal control,” Automatica, vol. 40, no. 4, pp. 549–562, 2004.
 A. Bemporad, C. Filippi, and F.D. Torrisi, “Inner and outer approximation of polytopes using boxes,” Computational Geometry: Theory and Applications, vol. 27, no. 2, pp. 151–178, 2004.
 F. Borrelli, A. Bemporad, M. Fodor, and D. Hrovat, “An MPC/hybrid system approach to traction control,” IEEE Trans. Contr. Systems Technology, vol. 14, no. 3, pp. 541–552, May 2006.
 F.D. Torrisi and A. Bemporad, “HYSDEL — A tool for generating computational hybrid models,” IEEE Trans. Contr. Systems Technology, vol. 12, no. 2, pp. 235–249, Mar. 2004.
 F. Borrelli, M. Baotić, A. Bemporad, and M. Morari, “Dynamic programming for constrained optimal control of discrete-time linear hybrid systems,” Automatica, vol. 41, no. 10, pp. 1709–1721, Oct. 2005.
 J. Roll, A. Bemporad, and L. Ljung, “Identiﬁcation of piecewise aﬃne systems via mixed-integer programming,” Automatica, vol. 40, no. 1, pp. 37–50, 2004.
 B. Potočnik, A. Bemporad, F.D. Torrisi, G. Mušič, and B. Zupančič, “Hysdel modelling and optimal control of a multi product batch plant,” Control Engineering Practice, vol. 12, no. 9, pp. 1127–1137, 2004.
 A. Bemporad, F. Borrelli, and M. Morari, “Min-max control of constrained uncertain discrete-time linear systems,” IEEE Trans. Automatic Control, vol. 48, no. 9, pp. 1600–1606, 2003.
 A. Bemporad and C. Filippi, “Suboptimal explicit receding horizon control via approximate multiparametric quadratic programming,” Journal of Optimization Theory and Applications, vol. 117, no. 1, pp. 9–38, Apr. 2003.
 P. Tøndel, T. A. Johansen, and A. Bemporad, “Evaluation of piecewise aﬃne control via binary search tree,” Automatica, vol. 39, no. 5, pp. 945–950, May 2003.
 P. Tøndel, T. A. Johansen, and A. Bemporad, “An algorithm for multi-parametric quadratic programming and explicit MPC solutions,” Automatica, vol. 39, no. 3, pp. 489–497, Mar. 2003.
 F. Borrelli, A. Bemporad, and M. Morari, “A geometric algorithm for multi-parametric linear programming,” Journal of Optimization Theory and Applications, vol. 118, no. 3, pp. 515–540, Sept. 2003.
 B. Potočnik, A. Bemporad, F.D. Torrisi, G. Mušič, and B. Zupančič, “Hybrid modeling and optimal control of an asphalt base process,” Elektrotehniški vestnik (Electrotechnical Review), vol. 70, no. 4, pp. 208–214, 2003.
 A. Bemporad, F. Borrelli, and M. Morari, “Model predictive control based on linear programming — The explicit solution,” IEEE Trans. Automatic Control, vol. 47, no. 12, pp. 1974–1985, 2002.
 A. Bemporad, M. Morari, V. Dua, and E.N. Pistikopoulos, “The explicit linear quadratic regulator for constrained systems,” Automatica, vol. 38, no. 1, pp. 3–20, 2002.
 A. Bemporad, M. Morari, V. Dua, and E.N. Pistikoupolos, “Corrigendum to: “The explicit linear quadratic regulator for constrained systems” [Automatica 38(1) (2002) 3–20],” 2003, vol. 39, pp. 1845–1846.
 A. Bemporad, W.P.M.H. Heemels, and B. De Schutter, “On hybrid systems and closed-loop MPC systems,” IEEE Trans. Automatic Control, vol. 47, no. 5, pp. 863–869, May 2002.
 E.N. Pistikopoulos, V. Dua, N.A. Bozinis, A. Bemporad, and M. Morari, “On-line optimization via oﬀ-line parametric optimization tools,” Computers & Chemical Engineering, vol. 26, no. 2, pp. 175–185, Feb. 2002.
 K. Asano, K. Tsuda, A. Bemporad, and M. Morari, “Predictive control for hybrid systems and its application to process control,” Systems, Control and Information, vol. 46, no. 3, pp. 110–119, 2002, (in Japanese).
 A. Bemporad, F.D. Torrisi, and M. Morari, “Discrete-time hybrid modeling and veriﬁcation of the batch evaporator process benchmark,” European Journal of Control, vol. 7, no. 4, pp. 382–399, July 2001.
 W.P.M.H. Heemels, B. De Schutter, and A. Bemporad, “Equivalence of hybrid dynamical models,” Automatica, vol. 37, no. 7, pp. 1085–1091, July 2001.
 B. De Schutter, W.P.M.H. Heemels, and A. Bemporad, “Note on the equivalence of linear complementarity problems,” Operations Research Letters, vol. 30, no. 4, pp. 211–222, Aug. 2002.
 A. Bemporad, G. Ferrari-Trecate, and M. Morari, “Observability and controllability of piecewise aﬃne and hybrid systems,” IEEE Trans. Automatic Control, vol. 45, no. 10, pp. 1864–1876, 2000.
 A. Bemporad, K. Fukuda, and F.D. Torrisi, “Convexity recognition of the union of polyhedra,” Computational Geometry: Theory and Applications, vol. 18, pp. 141–154, 2001.
 A. Bemporad, M. Di Marco, and A. Tesi, “Sonar-based wall-following control of mobile robots,” ASME J. Dynamic Systems, Measurement & Control, vol. 122, pp. 226–230, Mar. 2000.
 A. Bemporad and A. Garulli, “Output-feedback predictive control of constrained linear systems with disturbances via set-membership state estimation,” Int. J. Control, vol. 73, no. 8, pp. 655–665, 2000.
 E.N. Pistikopoulos, V. Dua N.A. Bozinis, A. Bemporad, and M. Morari, “On-line optimization via oﬀ-line parametric optimization tools,” Computers & Chemical Engineering, vol. 24, no. 2-7, pp. 183–188, 2000.
 A. Bemporad and M. Morari, “Control of systems integrating logic, dynamics, and constraints,” Automatica, vol. 35, no. 3, pp. 407–427, 1999.
 A. Bemporad, T.J. Tarn, and N. Xi, “Predictive path parameterization for constrained robot control,” IEEE Trans. Control Systems Technology, vol. 7, no. 6, pp. 648–656, 1999.
 M. Morari, A. Bemporad, and D. Mignone, “A framework for control, state estimation, fault detection, and veriﬁcation of hybrid systems,” Automatisierungstechnik, vol. 47, pp. 374–381, 1999.
 A. Bemporad, “Reference governor for constrained nonlinear systems,” IEEE Trans. Automatic Control, vol. AC-43, no. 3, pp. 415–419, 1998.
 A. Bemporad, “A predictive controller with artiﬁcial Lyapunov function for linear systems with input/state constraints,” Automatica, vol. 34, no. 10, pp. 1255–1260, 1998.
 A. Bemporad and E. Mosca, “Fulﬁlling hard constraints in uncertain linear systems by reference managing,” Automatica, vol. 34, no. 4, pp. 451–461, 1998.
 A. Bemporad, A. Casavola, and E. Mosca, “A predictive reference governor for constrained control systems,” Computers in Industry, vol. 36, pp. 55–64, 1998.
 A. Bemporad, A. Casavola, and E. Mosca, “Nonlinear control of constrained linear systems via predictive reference management,” IEEE Trans. Automatic Control, vol. AC-42, no. 3, pp. 340–349, 1997.
 A. Bemporad and E. Mosca, “Filtraggio predittivo del riferimento per il controllo di sistemi vincolati,” Automazione e Strumentazione, vol. 43, pp. 117–123, 1995, In Italian.
 A. Bemporad, L. Chisci, and E. Mosca, “On the stabilizing property of SIORHC,” Automatica, vol. 30, no. 12, pp. 2013–2015, 1994.
 D. Rubin, P. Mercader, P.-O. Gutman, H.-N. Nguyen, and A. Bemporad, “Interpolation based predictive control by ellipsoidal invariant sets,” 2018, Submitted.
 N. Saraf and A. Bemporad, “A bounded-variable least-squares solver based on stable QR updates,” IEEE Trans. Automatic Control, 2018, Conditionally accepted for publication.
 V.V. Naik, M.D. Mejari, D. Piga, and A. Bemporad, “Energy disaggregation using embedded binary quadratic programming,” Submitted.
 G. Cimini, D. Bernardini, A. Bemporad, and S. Levijoki, “Embedded model predictive control with certiﬁed real-time optimization for electrical motors,” 2019, Submitted.
 D. Piga, A. Bemporad, and A. Benavoli, “Rao-Blackwellized sampling for batch and recursive Bayesian inference of piecewise aﬃne models,” 2018, Submitted.
 A. Bemporad, D. Bernardini, M. Livshiz, and B. Pattipati, “Supervisory model predictive control of a powertrain with a continuously variable transmission,” 2018, Submitted.
 V. Breschi, D. Piga, and A. Bemporad, “Online end-use energy disaggregation via jump linear models,” 2018, Submitted.
 B. Stellato, G. Banjac, P. Goulart, A. Bemporad, and S. Boyd, “OSQP: An operator splitting solver for quadratic programs,” 2017, http://arxiv.org/abs/1711.08013, Code avaliable at https://github.com/oxfordcontrol/osqp.
 P. Sopasakis, A.K. Sampathirao, A. Bemporad, and P. Patrinos, “RapidNet: An open-source GPU-accelerated software for uncertainty-aware management of urban water networks,” 2017, Submitted.
 C.A. Pascucci, S. Bennani, and A. Bemporad, “Real-time model predictive control for Mars powered descent with pin-point accuracy,” 2016, Submitted.
 G. Cimini, D. Bernardini, and A. Bemporad, “An eﬃcient constraint selection strategy in dual active-set methods for model predictive control,” 2015, Submitted.
 M. Graf Plessen and A. Bemporad, “Subspace identiﬁcation of linear time-invariant systems with missing data in the frequency or time domain based on nuclear-norm minimization,” 2015, Submitted.
 P. Patrinos, L. Stella, and A. Bemporad, “Forward-Backward truncated Newton methods for convex composite optimization,” 2014, Submitted for publication. http://arxiv-web3.library.cornell.edu/abs/1402.6655.
 P. Sopasakis, A.K. Sampathirao, D. Barcelli, and A. Bemporad, “Centralized and decentralized hierarchical multi-rate control of constrained linear systems,” 2014, Submitted for publication.
 A. Bemporad, “Explicit model predictive control,” in Encyclopedia of Systems and Control, T. Samad and J. Baillieul, Eds. Springer-Verlag, London, UK, 2014.
 A. Bemporad and D. Barcelli, “Decentralized model predictive control,” in Networked Control Systems, A. Bemporad, W.P.M.H. Heemels, and M. Johansson, Eds., Lecture Notes in Control and Information Sciences, pp. 149–178. Springer-Verlag, Berlin Heidelberg, 2010.
 S. Di Cairano, D. Yanakiev, A. Bemporad, I.V. Kolmanovsky, and D. Hrovat, “Model predictive powertrain control: An application to idle speed regulation,” in Automotive Model Predictive Control: Models, Methods and Applications, L. Del Re, F. Allgöwer, L. Glielmo, C. Guardiola, and I. Kolmanovsky, Eds., Linz, Austria, 2009, vol. 402 of Lecture notes in control and information sciences, pp. 183–194, Springer-Verlag.
 A. Alessio and A. Bemporad, “A survey on explicit model predictive control,” in Nonlinear Model Predictive Control: Towards New Challenging Applications, D.M. Raimondo L. Magni, F. Allgower, Ed., Berlin Heidelberg, 2009, vol. 384 of Lecture Notes in Control and Information Sciences, pp. 345–369, Springer-Verlag.
 D. Bernardini, D. Muñoz de la Peña, A. Bemporad, and E. Frazzoli, “Simultaneous optimal control and discrete stochastic sensor selection,” in Hybrid Systems: Computation and Control, R. Majumdar and P. Tabuada, Eds., number 5469 in Lecture Notes in Computer Science, pp. 61–75. Springer-Verlag, Berlin Heidelberg, 2009.
 G. Ripaccioli, A. Bemporad, F. Assadian, C. Dextreit, S. Di Cairano, and I.V. Kolmanovsky, “Hybrid modeling, identiﬁcation, and predictive control: an application to hybrid electric vehicle energy management,” in Hybrid Systems: Computation and Control, R. Majumdar and P. Tabuada, Eds., number 5469 in Lecture Notes in Computer Science, pp. 321–335. Springer-Verlag, Berlin Heidelberg, 2009.
 A. Bemporad, M.K. Çamlibel, B. De Schutter, W.P.M.H. Heemels, A.J. van der Schaft, and J.M. Schumacher, “Chapter 5: Further switched systems,” in Handbook of Hybrid Systems Control: Theory, Tools, and Applications, J. Lunze and F. Lamnabhi-Lagarrigue, Eds., pp. 139–192. Cambridge University Press, 2009.
 A. Bemporad, S. Di Cairano, G. Ferrari-Trecate, M. Kvasnica, M. Morari, and S. Paoletti, “Chapter 10: Tools for modeling, simulation, control, and veriﬁcation of piecewise aﬃne systems,” in Handbook of Hybrid Systems Control: Theory, Tools, and Applications, J. Lunze and F. Lamnabhi-Lagarrigue, Eds., pp. 297–324. Cambridge University Press, 2009.
 L. Benvenuti, A. Balluchi, A. Bemporad, S. Di Cairano, B. Johansson, R. Johansson, A. Sangiovanni-Vincentelli, and P. Tunestål, “Chapter 15: Automotive control,” in Handbook of Hybrid Systems Control: Theory, Tools, and Applications, J. Lunze and F. Lamnabhi-Lagarrigue, Eds., pp. 439–469. Cambridge University Press, 2009.
 S. Di Cairano, M. Lazar, A. Bemporad, and W.P.M.H. Heemels, “A control Lyapunov approach to predictive control of hybrid systems,” in Hybrid Systems: Computation and Control, M. Egerstedt and B. Mishra, Eds., number 4981 in Lecture Notes in Computer Science, pp. 130–143. Springer-Verlag, Berlin Heidelberg, 2008.
 S. Di Cairano, K.H. Johansson, A. Bemporad, and R.M. Murray, “Dynamic network state estimation in networked control systems,” in Hybrid Systems: Computation and Control, M. Egerstedt and B. Mishra, Eds., number 4981 in Lecture Notes in Computer Science, pp. 144–157. Springer-Verlag, Berlin Heidelberg, 2008.
 C. Ocampo-Martinez, A. Bemporad, A. Ingimundarson, and V. Puig, “On hybrid model predictive control of sewer networks,” in Identiﬁcation and Control: The gap between theory & practice, R.S. Sánchez Peña, J. Quevedo Casín, and V. Puig, Eds., pp. 87–114. Springer-Verlag, London, 2007.
 M. Lazar, W.P.M.H. Heemels, A. Bemporad, and S. Weiland, “Discrete-time non-smooth nonlinear MPC: Stability and robustness,” in Assessment and Future Directions of Nonlinear Model Predictive Control, R. Findeisen F. Allgower, L. Biegler, Ed., vol. 358 of Lecture Notes in Control and Information Sciences, pp. 93–103. Springer-Verlag, 2007.
 A. Bemporad, S. Di Cairano, and J. Júlvez, “Event-based model predictive control and veriﬁcation of integral continuous-time hybrid automata,” in Hybrid Systems: Computation and Control, J.P. Hespanha and A. Tiwari, Eds., number 3927 in Lecture Notes in Computer Science, pp. 93–107. Springer-Verlag, 2006.
 A. Bemporad and S. Di Cairano, “Optimal control of discrete hybrid stochastic automata,” in Hybrid Systems: Computation and Control, M. Morari and L. Thiele, Eds., number 3414 in Lecture Notes in Computer Science, pp. 151–167. Springer-Verlag, 2005.
 M. Lazar, W.P.M.H. Heemels, S. Weiland, A. Bemporad, and O. Pastravanu, “Inﬁnity norms as Lyapunov functions for model predictive control of constrained PWA systems,” in Hybrid Systems: Computation and Control, M. Morari and L. Thiele, Eds., number 3414 in Lecture Notes in Computer Science, pp. 417–432. Springer-Verlag, 2005.
 A. Bemporad and N. Giorgetti, “SAT-based branch & bound and optimal control of hybrid dynamical systems,” in Int. Conf. on Integration of AI and OR Techniques in Constraint Programming for Combinatorial Optimisation Problems (CP-AI-OR), Nice, France, J.-C. Regin and M. Rueher, Eds., number 3011 in Lecture Notes in Computer Science, pp. 96–111. Springer-Verlag, Apr. 2004.
 A. Bemporad and N. Giorgetti, “A SAT-based hybrid solver for optimal control of hybrid systems,” in Hybrid Systems: Computation and Control, R. Alur and G.J. Pappas, Eds., number 2993 in Lecture Notes in Computer Science, pp. 126–141. Springer-Verlag, 2004.
 A. Bemporad, A. Garulli, S. Paoletti, and A. Vicino, “A greedy approach to identiﬁcation of piecewise aﬃne models,” in Hybrid Systems: Computation and Control, O. Maler and A. Pnueli, Eds. 2003, number 2623 in Lecture Notes in Computer Science, pp. 97–112, Springer-Verlag.
 A. Bemporad, P. Borodani, and M. Mannelli, “Hybrid control of an automotive robotized gearbox for reduction of consumptions and emissions,” in Hybrid Systems: Computation and Control, O. Maler and A. Pnueli, Eds. 2003, number 2623 in Lecture Notes in Computer Science, pp. 81–96, Springer-Verlag.
 A. Bemporad, F. Borrelli, and M. Morari, “On the optimal control law for linear discrete time hybrid systems,” in Hybrid Systems: Computation and Control, M. Greenstreet and C. Tomlin, Eds. 2002, number 2289 in Lecture Notes in Computer Science, pp. 105–119, Springer-Verlag.
 F. Borrelli, A. Bemporad, M. Fodor, and D. Hrovat, “A hybrid approach to traction control,” in Hybrid Systems: Computation and Control, A. Sangiovanni-Vincentelli and M.D. Di Benedetto, Eds. 2001, number 2034 in Lecture Notes in Computer Science, pp. 162–174, Springer-Verlag.
 A. Bemporad, F.D. Torrisi, and M. Morari, “Optimization-based veriﬁcation and stability characterization of piecewise aﬃne and hybrid systems,” in Hybrid Systems: Computation and Control, B. Krogh and N. Lynch, Eds. 2000, vol. 1790 of Lecture Notes in Computer Science, pp. 45–58, Springer-Verlag.
 A. Bemporad and M. Morari, “Veriﬁcation of hybrid systems via mathematical programming,” in Hybrid Systems: Computation and Control, F.W. Vaandrager and J.H. van Schuppen, Eds., vol. 1569 of Lecture Notes in Computer Science, pp. 31–45. Springer-Verlag, 1999.
 A. Bemporad and M. Morari, “Robust model predictive control: A survey,” in Robustness in Identiﬁcation and Control, A. Garulli, A. Tesi, and A. Vicino, Eds., number 245 in Lecture Notes in Control and Information Sciences, pp. 207–226. Springer-Verlag, 1999.
 A. Bemporad and M. Morari, “Predictive control of constrained hybrid systems,” in Nonlinear Model Predictive Control, F. Allgower and A. Zheng, Eds., vol. 26 of Progress in Systems and Control Theory Series, pp. 71–98. Birkhauser Verlag, Basel, 2000.
 L. Ferrarotti and A. Bemporad, “Synthesis of feedback controllers from data via optimal policy search and stochastic gradient descent,” in Proc. European Control Conf., 2019.
 M. Zanon, S. Gros, and A. Bemporad, “Practical reinforcement learning of stabilizing economic MPC,” in Proc. European Control Conf., 2019.
 M. Mejari, D. Piga, R Tóth, and A. Bemporad, “Kernelized identiﬁcation of linear parameter-varying models with linear fractional representation,” in Proc. European Control Conf., 2019, To appear.
 D. Masti and A. Bemporad, “Learning explicit binary warm starts for mixed-integer programming,” in Proc. European Control Conf., 2019.
 N. Saraf, M. Zanon, and A. Bemporad, “A fast NMPC approach based on bounded-variable nonlinear least squares,” in 6th IFAC Conf. on Nonlinear Model Predictive Control, Madison, WI, 2018, pp. 414–419.
 J.R. Salvador, D. Muñoz de la Peña, T. Alamo, and A. Bemporad, “Data-based predictive control via direct weight optimization,” in 6th IFAC Conf. on Nonlinear Model Predictive Control, Madison, WI, 2018, pp. 437–442.
 A. Bemporad and V.V. Naik, “A numerically robust mixed-integer quadratic programming solver for embedded hybrid model predictive control,” in 6th IFAC Conf. on Nonlinear Model Predictive Control, Madison, WI, 2018, pp. 502–507.
 P. Mercader, D. Rubin, H.-N. Nguyen, A. Bemporad, and P.-O. Gutman, “Simple interpolating control,” in 9th IFAC Symposium on Robust Control Design, vol. 51, pp. 42–47. Florianópolis, Brazil, 2018.
 M. Mejari, V.V. Naik, D. Piga, and A. Bemporad, “Regularized moving-horizon PWA regression for LPV system identiﬁcation,” in 18th IFAC Symposium on System Identiﬁcation, vol. 51, pp. 1092–1097. Stockholm, Sweden, 2018.
 V. Breschi, D. Piga, and A. Bemporad, “Jump model learning and ﬁltering for energy end-use disaggregation,” in 18th IFAC Symposium on System Identiﬁcation, vol. 51, pp. 275–280. Stockholm, Sweden, 2018.
 D. Masti and A. Bemporad, “Learning nonlinear state-space models using deep autoencoders,” in Proc. 57th IEEE Conf. on Decision and Control, pp. 3862–3867. Miami Beach, FL, USA, 2018.
 V. Breschi, A. Bemporad, D. Piga, and S. Boyd, “Prediction error methods in learning jump ARMAX models,” in Proc. 57th IEEE Conf. on Decision and Control, pp. 2247–2252. Miami Beach, FL, USA, 2018.
 M. Mejari, V.V. Naik, D. Piga, and A. Bemporad, “Energy disaggregation using piecewise aﬃne regression and binary quadratic programming,” in Proc. 57th IEEE Conf. on Decision and Control, pp. 3116–3121. Miami Beach, FL, USA, 2018.
 V. Breschi, A. Bemporad, and D. Piga, “Kalman ﬁltering for energy disaggregation,” in 1st IFAC Workshop on Integrated Assessment Modelling for Environmental Systems (IAMES 2018). 2018.
 B. Stellato, V.V. Naik, A. Bemporad, P.J. Goulart, and S.P. Boyd, “Embedded mixed-integer quadratic optimization using the OSQP solver,” in Proc. European Control Conf., 2018, pp. 1536–1541.
 P. Latafat, A. Bemporad, and P. Patrinos, “Plug and play distributed model predictive control with dynamic coupling: A randomized primal-dual proximal algorithm,” in Proc. European Control Conf., 2018, pp. 1160–1165.
 A. Bemporad, D. Bernardini, R. Long, and J. Verdejo, “Model predictive control of turbocharged gasoline engines for mass production,” in WCXTM: SAE World Congress Experience, Detroit, MI, USA, Apr. 2018, [preview] [paper].
 A. Bemporad, D. Bernardini, M. Livshiz, and B. Pattipati, “Supervisory model predictive control of a powertrain with a continuously variable transmission,” in WCXTM: SAE World Congress Experience, Detroit, MI, USA, Apr. 2018, [preview] [paper].
 V. Breschi, I.V. Kolmanovsky, and A. Bemporad, “Cloud-aided collaborative estimation by ADMM-RLS algorithms for connected vehicle prognostics,” in Proc. American Contr. Conf., Milwaukee, WI, 2018, pp. 2727–2732.
 R.A.E. Zidek, I.V. Kolmanovsky, and A. Bemporad, “Stochastic MPC approach to drift counteraction,” in Proc. American Contr. Conf., Milwaukee, WI, 2018, pp. 721–727.
 O. Inverso, A. Bemporad, and M. Tribastone, “SAT-based synthesis of spooﬁng attacks in cyber-physical control systems,” in 9th ACM/IEEE International Conference on Cyber-Physical Systems, 2018.
 G. Banjac, B. Stellato, N. Moehle, P. Goulart, A. Bemporad, and S. Boyd, “Embedded code generation using the OSQP solver,” in Proc. 56th IEEE Conf. on Decision and Control, Melbourne, Australia, 2017, pp. 1906–1911, https://github.com/oxfordcontrol/osqp.
 N. Saraf and A. Bemporad, “Fast model predictive control based on linear input/output models and bounded-variable least squares,” in Proc. 56th IEEE Conf. on Decision and Control, Melbourne, Australia, 2017.
 M. Graf Plessen, P.F. Lima, J. Mårtensson, A. Bemporad, and B. Wahlberg, “Trajectory planning under vehicle dimension constraints using sequential linear programming,” in Proc. 20th Int. Conf. Intelligent Transportation Systems, 2017.
 V.V. Naik and A. Bemporad, “Embedded mixed-integer quadratic optimization using accelerated dual gradient projection,” in Proc. 20th IFAC World Congress, Toulouse, France, July 2017, vol. 50, pp. 10723–10728.
 M. Mejari, D. Piga, and A. Bemporad, “LPV model-order selection from noise-corrupted output and scheduling signal measurements,” in Proc. 20th IFAC World Congress, Toulouse, France, July 2017, vol. 50, pp. 8685–8690.
 P. Sopasakis, D. Herceg, P. Patrinos, and A. Bemporad, “Stochastic economic model predictive control for Markovian switching systems,” in Proc. 20th IFAC World Congress, Toulouse, France, July 2017, vol. 50, pp. 524–530.
 A.K. Sampathirao, P. Sopasakis, A. Bemporad, and P. Patrinos, “Proximal limited-memory quasi-newton methods for scenario-based stochastic optimal control,” in Proc. 20th IFAC World Congress, Toulouse, France, July 2017, vol. 50, pp. 11865–11870.
 M. Graf Plessen and A. Bemporad, “Parallel investments in multiple call and put options for the tracking of desired proﬁt proﬁles,” in Proc. American Contr. Conf., Seattle, WA, 2017.
 R.A.E. Zidek, A. Bemporad, and I.V. Kolmanovsky, “Optimal and receding horizon drift counteraction control: Linear programming approaches,” in Proc. American Contr. Conf., Seattle, WA, 2017, pp. 2636–2641.
 R.A.E. Zidek, I.V. Kolmanovsky, C. Petersen, and A. Bemporad, “Receding horizon drift counteraction and its application to spacecraft attitude control,” in 27th AAS/AIAA Space Flight Mechanics Meeting, San Antonio, TX, 2017.
 D. Herceg, G. Georgoulas, P. Sopasakis, M. Castaño Arranz, P. Patrinos, A. Bemporad, J. Niemi, and G. Nikolakopoulos, “Data-driven modelling, learning and stochastic predictive control for the steel industry,” in 25th Mediterranean Control Conference, Valletta, Malta, July 2017, pp. 1361–1366.
 M. Graf Plessen A. Bemporad, “Shortest path computations under trajectory constraints for ground vehicles within agricultural ﬁelds,” in 19th IEEE Intelligent Transportation Systems Conference, pp. 1733–1738. Rio de Janeiro, Brazil, 2016.
 M. Graf Plessen, D. Bernardini, H. Esen, and A. Bemporad, “Multi-automated vehicle coordination using decoupled prioritized path planning for multi-lane one- and bi-directional traﬃc ﬂow control,” in Proc. 55th IEEE Conf. on Decision and Control, Las Vegas, NV, 2016, pp. 1582–1588.
 V. Breschi, D. Piga, and A. Bemporad, “Learning hybrid models with logical and continuous dynamics via multiclass linear separation,” in Proc. 55th IEEE Conf. on Decision and Control, Las Vegas, NV, 2016, pp. 353–358.
 V. Breschi, A. Bemporad, and D. Piga, “Identiﬁcation of hybrid and linear parameter varying models via recursive piecewise aﬃne regression and discrimination,” in Proc. European Control Conf., Aalborg, Denmark, 2016.
 M. Mejari, D. Piga, and A. Bemporad, “Regularized least square support vector machines for order and structure selection of LPV-ARX models,” in Proc. European Control Conf., Aalborg, Denmark, 2016.
 A. Themelis, S. Villa, P. Patrinos, and A. Bemporad, “Stochastic gradient methods for stochastic model predictive control,” in Proc. European Control Conf., Aalborg, Denmark, 2016.
 R. Takapoui, N. Moehle, S. Boyd, and A. Bemporad, “A simple eﬀective heuristic for embedded mixed-integer quadratic programming,” in Proc. American Contr. Conf., Boston, MA, 2016, pp. 5619–5625.
 A.K. Sampathirao, P. Sopasakis, A. Bemporad, and P. Patrinos, “Distributed solution of stochastic optimal control problems on GPUs,” in Proc. 54th IEEE Conf. on Decision and Control, Osaka, Japan, 2015, pp. 7183–7188.
 C.A. Hans, P. Sopasakis, A. Bemporad, J. Raisch, and C. Collon, “Scenario-based model predictive operation control of islanded microgrids,” in Proc. 54th IEEE Conf. on Decision and Control, Osaka, Japan, 2015, pp. 3272–3277.
 A. Bemporad, “Solving mixed-integer quadratic programs via nonnegative least squares,” in 5th IFAC Conf. on Nonlinear Model Predictive Control, Sevilla, Spain, 2015, pp. 73–79.
 P. Sopasakis, D. Bernardini, H. Strauch, and A. Bemporad, “A hybrid model predictive control approach to attitude control with minimum-impulse-bit thrusters,” in Proc. European Control Conf., Linz, Austria, 2015.
 P. Sopasakis, D. Bernardini, H. Strauch, S. Bennani, and A. Bemporad, “Sloshing-aware attitude control of impulsively actuated spacecraft,” in Proc. European Control Conf., Linz, Austria, 2015.
 C.A. Pascucci, S. Bennani, and A. Bemporad, “Model predictive control for powered descent guidance and control,” in Proc. European Control Conf., Linz, Austria, 2015.
 A. Guiggiani, I.V. Kolmanovsky, P. Patrinos, and A. Bemporad, “Constrained model predictive control of spacecraft attitude with reaction wheels desaturation,” in Proc. European Control Conf., Linz, Austria, 2015.
 A. Guiggiani, I.V. Kolmanovsky, P. Patrinos, and A. Bemporad, “Fixed-point constrained model predictive control of spacecraft attitude,” in Proc. American Contr. Conf., Chicago, IL, 2015, pp. 2317–2322, http://arxiv.org/abs/1411.0479.
 G. Gnecco, A. Bemporad, M. Gori, R. Morisi, and M. Sanguineti, “Online learning as an LQG optimal control problem with random matrices,” in Proc. European Control Conf., Linz, Austria, 2015.
 G. Cimini, D. Bernardini, A. Bemporad, and S. Levijoki, “Online model predictive torque control for permanent magnet synchronous motors,” in 2015 IEEE Int. Conf. on Industrial Technology, pp. 2308–2313. Seville, Spain, Mar. 2015.
 A. Khakimova, A. Shamshimova, D. Sharipova, A. Kusataeva, V. Ten, A. Bemporad, Y. Familiant, A. Shintemirov, and M. Rubagotti, “Modeling and hybrid model predictive control of a smart house,” in 15th IEEE Int. Conf. on Environment and Electrical Engineering, Rome, Italy, 2015, pp. 513–518.
 H. Esen, M. Adachi, D. Bernardini, A. Bemporad, D. Rost, and J. Knodel, “Control as a service (CaaS). Cloud-based software architecture for automotive control applications,” in 2nd Int. Workshop on the Swarm at the Edge of the Cloud (SWEC), Seattle, WA, 2015.
 G. Cimini, A. Bemporad, G. Ippoliti, and S. Longhi, “FRAM evaluation as uniﬁed memory for convex optimization algorithms,” in 6th European Embedded Design in Education and Research Conference, pp. 187–191. Milano, Italy, 2014.
 H. Esen, T. Tashiro, D. Bernardini, and A. Bemporad, “Cabin heat thermal management in hybrid vehicles using model predictive control,” in 22nd Mediterranean Control Conference, Palermo, Italy, 2014.
 I. Necoara, D.N. Clipici, P. Patrinos, and A. Bemporad, “MPC for power systems dispatch based on stochastic optimization,” in Proc. 19th IFAC World Congress, Cape Town, South Africa, 2014.
 A.K. Sampathirao, J.M Grosso, P. Sopasakis, C. Ocampo-Martinez, A. Bemporad, and V. Puig, “Water demand forecasting for the optimal operation of large-scale drinking water networks: The Barcelona case study,” in Proc. 19th IFAC World Congress, Cape Town, South Africa, 2014.
 A. Guiggiani, P. Patrinos, and A. Bemporad, “Fixed-point implementation of a proximal Newton method for embedded model predictive control,” in Proc. 19th IFAC World Congress, Cape Town, South Africa, 2014.
 G. Gnecco, R. Morisi, and A. Bemporad, “Sparse solutions to the average consensus problem via ℓ1-norm regularization of the fastest mixing Markov-chain problem,” in Proc. 53rd IEEE Conf. on Decision and Control, Los Angeles, CA, 2014, pp. 2228–2233.
 P. Patrinos, L. Stella, and A. Bemporad, “Douglas-Rachford splitting: Complexity estimates and accelerated variants,” in Proc. 53rd IEEE Conf. on Decision and Control, Los Angeles, CA, 2014, pp. 4234–4239.
 C.A. Pascucci, A. Bemporad, S. Bennani, and M. Rotunno, “Embedded MPC for space applications,” in 2nd IAA Conference on Dynamics and Control of Space Systems, 2014.
 P. Patrinos and A. Bemporad, “Proximal Newton methods for convex composite optimization,” in Proc. 52nd IEEE Conf. on Decision and Control, Florence, Italy, 2013, pp. 2358–2363.
 P. Sopasakis, D. Bernardini, and A. Bemporad, “Constrained model predictive control based on reduced-order models,” in Proc. 52nd IEEE Conf. on Decision and Control, Florence, Italy, 2013, pp. 7071–7076.
 P. Patrinos, A. Guiggiani, and A. Bemporad, “Fixed-point dual gradient projection for embedded model predictive control,” in Proc. European Control Conf., Zürich, Switzerland, 2013, pp. 3602–3607.
 M. Rubagotti, P. Patrinos, and A. Bemporad, “Stabilizing embedded MPC with computational complexity guarantees,” in Proc. European Control Conf., Zürich, CH, 2013, pp. 3065–3070.
 L. Puglia, P. Patrinos, D. Bernardini, and A. Bemporad, “Reliability and eﬃciency for market parties in power systems,” in 10th International Conference on the European Energy Market (EEM13), Stockholm, Sweden, 2013.
 L. Puglia, A. Bemporad, A. Virag, and A. Jokic, “A stochastic optimization approach to optimal bidding on Dutch ancillary services markets,” in 10th International Conference on the European Energy Market (EEM13), Stockholm, Sweden, 2013.
 S. Di Cairano, W.P.M.H. Heemels, M. Lazar, and A. Bemporad, “Hybrid control Lyapunov functions for stabilization of hybrid systems,” in Hybrid Systems: Computation and Control, Philadelphia, USA, 2013, pp. 73–82.
 R. Krenn, A. Gibbesch, G. Binet, and A. Bemporad, “Model predictive traction and steering control of planetary rovers,” in Proc. 12th Symposium on Advanced Space Technologies in Automation and Robotics (ASTRA), 2013.
 P. Patrinos and A. Bemporad, “An accelerated dual gradient-projection algorithm for linear model predictive control,” in Proc. 51st IEEE Conf. on Decision and Control, Maui, HI, 2012, pp. 662–667.
 P. Sopasakis, P. Patrinos, H. Sarimveis, and A. Bemporad, “Model predictive control for linear impulsive systems,” in Proc. 51st IEEE Conf. on Decision and Control, Maui, HI, 2012, pp. 5164–5169.
 M. Rubagotti, T. Poggi, A. Bemporad, and M. Storace, “Piecewise aﬃne direct virtual sensors with reduced complexity,” in Proc. 51st IEEE Conf. on Decision and Control, Maui, HI, 2012, pp. 4235–4240.
 M. Rubagotti, L. Zaccarian, and A. Bemporad, “Stability analysis of discrete-time piecewise-aﬃne systems over non-invariant domains,” in Proc. 51st IEEE Conf. on Decision and Control, Maui, HI, 2012, pp. 656–661.
 V. Milić, S. Di Cairano, J. Kasac, A. Bemporad, and Z. Situm, “A numerical algorithm for nonlinear L2-gain optimal control with application to vehicle yaw stability control,” in Proc. 51st IEEE Conf. on Decision and Control, Maui, HI, 2012, pp. 5040–5045.
 S. Di Cairano, C.A. Pascucci, and A. Bemporad, “The rendezvous dynamics under linear quadratic optimal control,” in Proc. 51st IEEE Conf. on Decision and Control, Maui, HI, 2012, pp. 6554–6559.
 A. Bemporad and P. Patrinos, “Simple and certiﬁable quadratic programming algorithms for embedded linear model predictive control,” in Proc. 4th IFAC Nonlinear Model Predictive Control Conference, F. Allgower M. Lazar, Ed., 2012, pp. 14–20.
 M. Rubagotti, D. Barcelli, and A. Bemporad, “Approximate explicit MPC on simplicial partitions for stabilization of constrained linear systems,” in Proc. 4th IFAC Nonlinear Model Predictive Control Conference, F. Allgower M. Lazar, Ed., 2012, pp. 119–125.
 A. Oliveri, D. Barcelli, A. Bemporad, B. Genuit, W.P.M.H. Heemels, T. Poggi, M. Rubagotti, and M. Storace, “MOBY-DIC: A MATLAB toolbox for circuit-oriented design of explicit MPC,” in Proc. 4th IFAC Nonlinear Model Predictive Control Conference, F. Allgower M. Lazar, Ed., 2012, pp. 218–225.
 G. Binet, R. Krenn, and A. Bemporad, “Model predictive control applications for planetary rovers,” in 11th Int. Symposium on Artiﬁcial Intelligence, Robotics and Automation in Space (iSAIRAS), Turin, Italy, 2012.
 V. Milić, A. Bemporad, J. Kasac, and Z. Situm, “Numerical algorithm for nonlinear state feedback H-inﬁnity optimal control problem,” in 20th Mediterranean Conference on Control and Automation, Barcelona, Spain, 2012, pp. 1253–1258.
 P. Patrinos, D. Bernardini, A. Maﬀei, A. Jokic, and A. Bemporad, “Two-time-scale MPC for economically optimal real-time operation of balance responsible parties,” in IFAC 8th Power Plant and Power Systems Control Symposium, Tolouse, France, 2012, pp. 741–746.
 A. Bemporad and C. Rocchi, “Decentralized linear time-varying model predictive control of a formation of unmanned aerial vehicles,” in Proc. 50th IEEE Conf. on Decision and Control and European Control Conf., Orlando, FL, 2011, pp. 7488–7493.
 P. Patrinos, S. Trimboli, and A. Bemporad, “Stochastic MPC for real-time market-based optimal power dispatch,” in Proc. 50th IEEE Conf. on Decision and Control and European Control Conf., Orlando, FL, 2011, pp. 7111–7116.
 S. Trimboli, M. Rubagotti, and A. Bemporad, “Stability and invariance analysis of uncertain PWA systems based on linear programming,” in Proc. 50th IEEE Conf. on Decision and Control and European Control Conf., Orlando, FL, 2011, pp. 7398–7403.
 W.P.M.H. Heemels and A. Bemporad, “An upper Riemann-Stieltjes approach to stochastic design problems,” in Proc. 50th IEEE Conf. on Decision and Control and European Control Conf., Orlando, FL, 2011, pp. 2871–2876.
 L. Puglia, D. Bernardini, and A. Bemporad, “A multi-stage stochastic optimization approach to optimal bidding on energy markets,” in Proc. 50th IEEE Conf. on Decision and Control and European Control Conf., Orlando, FL, 2011, pp. 1509–1514.
 L. Liang, W.P.M.H. Heemels, and A. Bemporad, “Synthesis of low-complexity stabilizing piecewise aﬃne controllers: A control-Lyapunov function approach,” in Proc. 50th IEEE Conf. on Decision and Control and European Control Conf., Orlando, FL, 2011, pp. 1227–1232.
 M. Saponara, V. Barrena, A. Bemporad, E.N. Hartley, J. Maciejowski, A. Richards, A. Tramutola, and P. Trodden, “Model predictive control application to spacecraft rendezvous in Mars Sample & Return scenario,” in Proc. 4th European Conference for Aerospace Sciences (EUCASS), Saint Petersburg, Russia, 2011.
 A. Bemporad, L. Puglia, and T. Gabbriellini, “A stochastic model predictive control approach to dynamic option hedging with transaction costs,” in Proc. American Contr. Conf., San Francisco, CA, USA, 2011, pp. 3862–3867.
 T. Jorge, J.M. Lemos, M. Barao, and A. Bemporad, “Hybrid dynamic optimization for cruise speeed control,” in Proc. 18th IFAC World Congress, Milano, Italy, 2011, pp. 5082–5087.
 D. Barcelli, A. Bemporad, and G. Ripaccioli, “Decentralized hierarchical multi-rate control of constrained linear systems,” in Proc. 18th IFAC World Congress, Milano, Italy, 2011, pp. 277–283.
 T. Poggi, S. Trimboli, A. Bemporad, and M. Storace, “Explicit hybrid model predictive control: discontinuous piecewise-aﬃne approximation and FPGA implementation,” in Proc. 18th IFAC World Congress, Milano, Italy, 2011, pp. 1350–1355.
 A. Bemporad and C. Rocchi, “Decentralized hybrid model predictive control of a formation of unmanned aerial vehicles,” in Proc. 18th IFAC World Congress, Milano, Italy, 2011, pp. 11900–11906.
 M. Rubagotti, S. Trimboli, D. Bernardini, and A. Bemporad, “Stability and invariance analysis of approximate explicit MPC based on PWA Lyapunov functions,” in Proc. 18th IFAC World Congress, Milano, Italy, 2011, pp. 5712–5717.
 A. Bemporad, T. Gabbriellini, L. Puglia, and L. Bellucci, “Scenario-based stochastic model predictive control for dynamic option hedging,” in Proc. 49th IEEE Conf. on Decision and Control, Atlanta, GA, USA, 2010, pp. 6089–6094.
 M. Bichi, G. Ripaccioli, S. Di Cairano, D. Bernardini, A. Bemporad, and I.V. Kolmanovsky, “Stochastic model predictive control with driver behavior learning for improved powertrain control,” in Proc. 49th IEEE Conf. on Decision and Control, Atlanta, GA, USA, 2010, pp. 6077–6082.
 A. Bemporad, A. Oliveri, T. Poggi, and M. Storace, “Synthesis of stabilizing model predictive controllers via canonical piecewise aﬃne approximations,” in Proc. 49th IEEE Conf. on Decision and Control, Atlanta, GA, USA, 2010, pp. 5296–5301.
 D. Barcelli, A. Bemporad, and G. Ripaccioli, “Hierarchical multi-rate control design for constrained linear systems,” in Proc. 49th IEEE Conf. on Decision and Control, Atlanta, GA, USA, 2010, pp. 5216–5221.
 D. Barcelli, D. Bernardini, and A. Bemporad, “Synthesis of networked switching linear decentralized controllers,” in Proc. 49th IEEE Conf. on Decision and Control, Atlanta, GA, USA, 2010, pp. 2480–2485.
 D. Bernardini, T. Donkers, A. Bemporad, and W.P.M.H. Heemels, “A model predictive control approach for stochastic networked control systems,” in 2nd IFAC Workshop on Distributed Estimation and Control in Networked Systems, Annecy, France, 2010, pp. 7–12.
 S. Di Cairano, H.E. Tseng, D. Bernardini, and A. Bemporad, “Steering vehicle control by switched model predictive control,” in 6th IFAC Symposium Advances in Automotive Control, Münich, Germany, 2010.
 A. Bemporad, W.P.M.H. Heemels, and M. Lazar, “On the synthesis of piecewise aﬃne control laws,” in IEEE Int. Symposium on Circuits and Systems, Paris, France, 2010.
 G. Ripaccioli, D. Bernardini, S. Di Cairano, A. Bemporad, and I.V. Kolmanovsky, “A stochastic model predictive control approach for series hybrid electric vehicle power management,” in Proc. American Contr. Conf., Baltimore, MD, 2010, pp. 5844–5849.
 T. Donkers, W.P.M.H. Heemels, D. Bernardini, A. Bemporad, and V. Shneer, “Stability analysis of stochastic networked control systems,” in Proc. American Contr. Conf., Baltimore, MD, 2010, pp. 547–555.
 D. Barcelli, C. Ocampo-Martinez, V. Puig, and A. Bemporad, “Decentralized model predictive control of drinking water networks using an automatic subsystem decomposition approach,” in 12th Symposium on Large-Scale Systems: Theory and Applications, Villeneuve d’Ascq, France, 2010.
 D. Bernardini and A. Bemporad, “Scenario-based model predictive control of stochastic constrained linear systems,” in Proc. 48th IEEE Conf. on Decision and Control, Shanghai, China, 2009, pp. 6333–6338.
 D. Bernardini, S. Di Cairano, A. Bemporad, and H.E. Tseng, “Drive-by-wire vehicle stabilization and yaw regulation: A hybrid model predictive control design,” in Proc. 48th IEEE Conf. on Decision and Control, Shanghai, China, 2009, pp. 7621–7626.
 D. Barcelli and A. Bemporad, “Decentralized model predictive control of dynamically-coupled linear systems: Tracking under packet loss,” in 1st IFAC Workshop on Estimation and Control of Networked Systems, Venice, Italy, 2009, pp. 204–209.
 A. Bemporad, C.A. Pascucci, and C. Rocchi, “Hierarchical and hybrid model predictive control of quadcopter air vehicles,” in 3rd IFAC Conference on Analysis and Design of Hybrid Systems, Zaragoza, Spain, 2009, pp. 14–19.
 S. Trimboli, S. Di Cairano, A. Bemporad, and I.V. Kolmanovsky, “Model predictive control for systems with time delay: An application to air-fuel ratio control in automotive engines,” in 8th IFAC Workshop on Time Delay Systems, 2009.
 S. Di Cairano and A. Bemporad, “Model predictive controller matching: Can MPC enjoy small signal properties of my favorite linear controller ?,” in Proc. European Control Conf., 2009, pp. 2217–2222.
 A. Bemporad and D. Muñoz de la Peña, “Multiobjective model predictive control based on convex piecewise aﬃne costs,” in Proc. European Control Conf., 2009, pp. 2402–2407.
 D. Bernardini and A. Bemporad, “Energy-aware robust model predictive control with feedback from multiple noisy wireless sensors,” in Proc. European Control Conf., 2009, pp. 4308–4313.
 A. Bemporad, “Modeling and control of hybrid dynamical systems: The Hybrid Toolbox for MATLAB,” in Proc. MATHMOD Conference, I. Troch and F. Breitenecker, Eds., number 35 in ARGESIM Reports, pp. 82–100. Vienna, Austria, 2009.
 D. Bernardini and A. Bemporad, “Energy-aware robust model predictive control based on wireless sensor feedback,” in Proc. 47th IEEE Conf. on Decision and Control, Cancun, Mexico, 2008, pp. 3342–3347.
 S. Di Cairano, D. Yanakiev, A. Bemporad, I.V. Kolmanovsky, and D. Hrovat, “An MPC design ﬂow for automotive control and applications to idle speed regulation,” in Proc. 47th IEEE Conf. on Decision and Control, Cancun, Mexico, 2008, pp. 5686–5691.
 A. Damoiseaux, A. Jokic, M. Lazar, P.P.J. van den Bosch, I.A. Hiskens, A. Alessio, and A. Bemporad, “Assessment of decentralized model predictive control techniques for power networks,” in 16th Power Systems Computation Conference, Glasgow, Scotland, 2008.
 S. Di Cairano, A. Pasini, A. Bemporad, and R.M. Murray, “Convergence properties of dynamic agents consensus networks with broken links,” in Proc. American Contr. Conf., Seattle, WA, 2008, pp. 1362–1367.
 A. Alessio and A. Bemporad, “Stability conditions for decentralized model predictive control under packet dropout,” in Proc. American Contr. Conf., Seattle, WA, 2008, pp. 3577–3582.
 A. Ingimundarson, C. Ocampo-Martinez, A. Bemporad, and V. Puig, “Suboptimal hybrid model predictive control: Application to sewer networks,” in Proc. 17th IFAC World Congress, Seoul, Corea, 2008.
 A. Bemporad, S. Di Cairano, E. Henriksson, and K. H. Johansson, “Hybrid model predictive control based on wireless sensor feedback: An experimental study,” in Proc. 46th IEEE Conf. on Decision and Control, New Orleans, LA, 2007, pp. 5062–5067.
 A. Julius, M.S. Sakar, A. Bemporad, and G. J. Pappas, “Hybrid model predictive control of induction of Escherichia Coli,” in Proc. 46th IEEE Conf. on Decision and Control, New Orleans, LA, 2007, pp. 3913–3918.
 A. Bemporad, S. Di Cairano, I. V. Kolmanovsky, and D. Hrovat, “Hybrid modeling and control of a multibody magnetic actuator for automotive applications,” in Proc. 46th IEEE Conf. on Decision and Control, New Orleans, LA, 2007, pp. 5270–5275.
 A. Ingimundarson, C. Ocampo-Martinez, and A. Bemporad, “Model predictive control of hybrid systems based on mode-switching constraints,” in Proc. 46th IEEE Conf. on Decision and Control, New Orleans, LA, 2007, pp. 5265–5269.
 A. Alessio and A. Bemporad, “Decentralized model predictive control of constrained linear systems,” in Proc. European Control Conf., Kos, Greece, 2007, pp. 2813–2818.
 S. Di Cairano, A. Bemporad, and A. Caldelli, “Moving target detection and tracking in wireless sensor networks,” in Proc. European Control Conf., Kos, Greece, 2007, pp. 2218–2223.
 S. Di Cairano, A. Bemporad, I. Kolmanovsky, and D. Hrovat, “Model predictive control of magnetic automotive actuators,” in Proc. American Contr. Conf., New York, NY, 2007, pp. 5082–5087.
 A. Bemporad, F. Gentile, A. Mecocci, F. Molendi, and F. Rossi, “A wireless magneto-resistive sensor network for real-time vehicle detection,” in Proc. European Wireless Sensor Network Conf., Delft, The Netherlands, 2007, pp. 13–14, TR PDS-2007-001, TU/Delft.
 A. Bemporad, “Model-based predictive control design: New trends and tools,” in Proc. 45th IEEE Conf. on Decision and Control, San Diego, CA, 2006, pp. 6678–6683.
 A. Alessio, A. Bemporad, M. Lazar, and W.P.M.H. Heemels, “An algorithm for the computation of polyhedral invariant sets for closed-loop linear MPC systems,” in Proc. 45th IEEE Conf. on Decision and Control, San Diego, CA, 2006, pp. 4532–4537.
 S. Di Cairano and A. Bemporad, “An equivalence result between linear hybrid automata and piecewise aﬃne systems,” in Proc. 45th IEEE Conf. on Decision and Control, San Diego, CA, 2006, pp. 2631–2636.
 A. Bemporad, “Optimization-based control of hybrid dynamical systems,” in Proc. 7th Portuguese Conference on Automatic Control (CONTROLO’06), Lisbon, Portugal, 2006, Plenary lecture.
 A. Alessio and A. Bemporad, “Feasible mode enumeration and cost comparison for explicit quadratic model predictive control of hybrid systems,” in 2nd IFAC Conference on Analysis and Design of Hybrid Systems, Alghero, Italy, 2006, pp. 302–308.
 S. Di Cairano, A. Bemporad, I. Kolmanovsky, and D. Hrovat, “Model predictive control of nonlinear mechatronic systems: An application to a magnetically actuated mass spring damper,” in 2nd IFAC Conference on Analysis and Design of Hybrid Systems, Alghero, Italy, 2006, pp. 241–246.
 A. Alessio, M. Lazar, A. Bemporad, and W.P.M.H. Heemels, “Squaring the circle: An algorithm for generating polyhedral invariant sets from ellipsoidal ones,” in Proc. American Contr. Conf., Minneapolis, MN, 2006, pp. 3007–3012.
 D. Muñoz de la Peña, T. Alamo, A. Bemporad, and E.F. Camacho, “Feedback min-max model predictive control based on a quadratic cost function,” in Proc. American Contr. Conf., Minneapolis, MN, 2006, pp. 1575–1680.
 A. Bemporad, S. Di Cairano, and J. Júlvez, “Event-driven optimal control of integral continuous-time hybrid automata,” in Proc. 44th IEEE Conf. on Decision and Control and European Control Conf., Sevilla, Spain, 2005, pp. 1409–1414.
 A. Bemporad, G. Bianchini, F. Brogi, and G. Chesi, “Passivity analysis of discrete-time hybrid systems using piecewise polynomial storage functions,” in Proc. 44th IEEE Conf. on Decision and Control and European Control Conf., Sevilla, Spain, 2005, pp. 5421–5426.
 D. Muñoz de la Peña, A. Bemporad, and T. Alamo, “Stochastic programming applied to model predictive control,” in Proc. 44th IEEE Conf. on Decision and Control and European Control Conf., Sevilla, Spain, 2005, pp. 1361–1366.
 D. Muñoz de la Peña, T. Alamo, and A. Bemporad, “A decomposition algorithm for feedback min-max model predictive control,” in Proc. 44th IEEE Conf. on Decision and Control and European Control Conf., Sevilla, Spain, 2005, pp. 5126–5131.
 N. Giorgetti, G. Pappas, and A. Bemporad, “Bounded model checking of hybrid dynamical systems,” in Proc. 44th IEEE Conf. on Decision and Control and European Control Conf., Sevilla, Spain, 2005, pp. 672–677.
 A. Bemporad, S. Di Cairano, and N. Giorgetti, “Model predictive control of hybrid systems with applications to supply chain management,” in Proc. 49th ANIPLA National Congress “Automazione 2005”, Napoli, Italy, Nov. 2005.
 M. Lazar, W.P.M.H. Heemels, A. Bemporad, and S. Weiland, “On the stability and robustness of non-smooth nonlinear MPC,” in Proc. Int. Workshop on Assessment and Future Directions of NMPC, Freudenstadt-Lauterbad, Germany, Aug. 2005.
 A. Bemporad, G. Bianchini, F. Brogi, and F. Barbagli, “Passivity analysis and passiﬁcation of discrete-time hybrid systems,” in Proc. 16th IFAC World Congress, Prague, Czech Republic, 2005.
 M. Lazar, W.P.M.H. Heemels, S. Weiland, and A. Bemporad, “On the stability of 2-norm based model predictive control of constrained PWA systems,” in Proc. American Contr. Conf., Portland, OR, 2005, pp. 575–580.
 N. Giorgetti, A. Bemporad, H. E. Tseng, and D. Hrovat, “Hybrid model predictive control application towards optimal semi-active suspension,” in Proc. IEEE Int. Symp. on Industrial Electronics, Dubrovnik, Croatia, 2005, pp. 391–398.
 N. Giorgetti, A. Bemporad, I.V. Kolmanovsky, and D. Hrovat, “Explicit hybrid optimal control of direct injection stratiﬁed charge engines,” in Proc. IEEE Int. Symp. on Industrial Electronics, Dubrovnik, Croatia, 2005, pp. 247–252.
 M. Lazar, W.P.M.H. Heemels, S. Weiland, and A. Bemporad, “Stabilization conditions for model predictive control of constrained PWA systems,” in Proc. 43th IEEE Conf. on Decision and Control, Paradise Island, Bahamas, 2004, pp. 4595–4600.
 J. Júlvez, A. Bemporad, L. Recalde, and M. Silva, “Event-driven optimal control of continuous Petri nets,” in Proc. 43th IEEE Conf. on Decision and Control, Paradise Island, Bahamas, 2004, pp. 69–74.
 A. Bemporad, A. Garulli, S. Paoletti, and A. Vicino, “Data classiﬁcation and parameter estimation for the identiﬁcation of piecewise aﬃne models,” in Proc. 43th IEEE Conf. on Decision and Control, Paradise Island, Bahamas, 2004, pp. 20–25.
 D. Muñoz de la Peña, A. Bemporad, and C. Filippi, “Robust explicit MPC based on approximate multi-parametric convex programming,” in Proc. 43th IEEE Conf. on Decision and Control, Paradise Island, Bahamas, 2004, pp. 2491–2496.
 D. Muñoz de la Peña, T. Alamo, A. Bemporad, and E. F. Camacho, “A dynamic programming approach for determining the explicit solution of MPC controllers,” in Proc. 43th IEEE Conf. on Decision and Control, Paradise Island, Bahamas, 2004, pp. 2479–2484.
 A. Bemporad, N.L. Ricker, and J.G. Owen, “Model predictive control – New tools for design and evaluation,” in Proc. American Contr. Conf., Boston, MA, 2004, pp. 5622–5627.
 M. Lazar, W.P.M.H. Heemels, S. Weiland, and A. Bemporad, “Stabilizing receding horizon control of piecewise linear systems: An LMI approach,” in 16th Int. Symp. Mathematical Theory of Networks and Systems, Leuven, Belgium, 2004.
 M.P. Silva, M. Ayala Botto, L. Pina, A. Bemporad, and J. Sá da Costa, “Robust optimal control of linear hybrid systems: An MLD approach,” in Sixth Portuguese Conference on Automatic Control (CONTROLO 2004), Faro, Portugal, 2004.
 A. Bemporad, “Multiparametric nonlinear integer programming and explicit quantized optimal control,” in Proc. 42th IEEE Conf. on Decision and Control, Maui, Hawaii, USA, 2003, pp. 3167–3172.
 A. Bemporad and N. Giorgetti, “Logic-based hybrid solvers for optimal control of hybrid systems,” in Proc. 42th IEEE Conf. on Decision and Control, Maui, Hawaii, USA, 2003, pp. 640–645.
 A. Bemporad and C. Filippi, “Approximate multiparametric convex programming,” in Proc. 42th IEEE Conf. on Decision and Control, Maui, Hawaii, USA, 2003, pp. 3185–3190.
 P. Tøndel, T. A. Johansen, and A. Bemporad, “Further results on multiparametric quadratic programming,” in Proc. 42th IEEE Conf. on Decision and Control, Maui, Hawaii, USA, 2003, pp. 3173–3178.
 M.P. Silva, A. Bemporad, M.A. Botto, and J. Sá da Costa, “Optimal control of uncertain piecewise aﬃne/mixed logical dynamical systems,” in European Control Conference, Sept. 2003.
 F. Borrelli, M. Baotić, A. Bemporad, and M. Morari, “An eﬃcient algorithm for computing the state feedback optimal control law for discrete time hybrid systems,” in Proc. American Contr. Conf., Denver, Colorado, 2003, vol. 6, pp. 4717–4722.
 A. Bemporad, A. Garulli, S. Paoletti, and A. Vicino, “Set membership identiﬁcation of piecewise aﬃne models,” in 13th IFAC Symposium on System Identiﬁcation, Rotterdam, The Netherlands, Aug. 2003.
 A. Bemporad, D. Corona, A. Giua, and C. Seatzu, “Optimal state-feedback quadratic regulation of linear hybrid automata,” in IFAC Conf. on Analysis and Design of Hybrid Systems, Saint Malo, France, June 2003.
 B. Picasso, S. Pancanti, A. Bemporad, and A. Bicchi, “Receding–horizon control of LTI systems with quantized inputs,” in IFAC Conf. on Analysis and Design of Hybrid Systems, Saint Malo, France, June 2003, pp. 259–264.
 A. Bemporad, “An eﬃcient technique for translating mixed logical dynamical systems into piecewise aﬃne systems,” in Proc. 41th IEEE Conf. on Decision and Control, 2002, pp. 1970–1975.
 A. Bemporad, A. Giua, and C. Seatzu, “A master-slave algorithm for the optimal control of continuous-time switched aﬃne systems,” in Proc. 41th IEEE Conf. on Decision and Control, 2002, pp. 1976–1981.
 A. Bemporad, A. Giua, and C. Seatzu, “Synthesis of state-feedback optimal controllers for switched linear systems,” in Proc. 41th IEEE Conf. on Decision and Control, 2002, pp. 3182–3187.
 A. Bemporad, N. Giorgetti, I.V. Kolmanovsky, and D. Hrovat, “A hybrid system approach to modeling and optimal control of DISC engines,” in Proc. 41th IEEE Conf. on Decision and Control, 2002, pp. 1582–1587.
 P. Tøndel, T. A. Johansen, and A. Bemporad, “Computation and approximation of piecewise aﬃne control via binary search tree,” in Proc. 41th IEEE Conf. on Decision and Control, 2002, pp. 3144–3149.
 A. Bemporad, N. Giorgetti, I.V. Kolmanovsky, and D. Hrovat, “Hybrid modeling and control of a direct injection stratiﬁed charge engine,” in Symposium on Advanced Automotive Technologies, ASME International Mechanical Engineering Congress and Exposition, New Orleans, LA, Nov. 2002.
 A. Bemporad, A. Giua, and C. Seatzu, “An iterative algorithm for the optimal control of continuous–time switched linear systems,” in 6th Int. Work. on Discrete Event Systems (WODES), Zaragoza, Spain, Oct. 2002.
 A. Bemporad, A. Teel, and L. Zaccarian, “L2 anti-windup via receding horizon optimal control,” in Proc. American Contr. Conf., 2002.
 B. Potočnik, A. Bemporad, F.D. Torrisi, G. Mušič, and B. Zupančič, “Scheduling of hybrid systems: Multi product batch plant,” in Proc. 15th IFAC World Congress, Barcelona, 2002.
 B. De Schutter, W.P.M.H. Heemels, and A. Bemporad, “Max-plus-algebraic problems and the extended linear complementarity problem — algorithmic aspects,” in Proc. 15th IFAC World Congress, Barcelona, 2002.
 A. Bemporad and C. Filippi, “Suboptimal explicit MPC via approximate multiparametric quadratic programming,” in Proc. 40th IEEE Conf. on Decision and Control, Orlando, Florida, 2001, pp. 4851–4856.
 A. Bemporad, J. Roll, and L. Ljung, “Identiﬁcation of hybrid systems via mixed-integer programming,” in Proc. 40th IEEE Conf. on Decision and Control, Orlando, Florida, 2001, pp. 786–792.
 A. Bemporad, W.P.M.H. Heemels, and B. De Schutter, “On hybrid systems and closed-loop MPC systems,” in Proc. 40th IEEE Conf. on Decision and Control, Orlando, Florida, 2001, pp. 1645–1650.
 W.P.H.M Heemels, B. de Schutter, and A. Bemporad, “On the equivalence of classes of hybrid dynamical models,” in Proc. 40th IEEE Conf. on Decision and Control, Orlando, Florida, 2001, pp. 364–369.
 F.D. Torrisi and A. Bemporad, “Discrete-time hybrid modeling and veriﬁcation,” in Proc. 40th IEEE Conf. on Decision and Control, Orlando, Florida, 2001, pp. 2899–2904.
 P. Tøndel, T. A. Johansen, and A. Bemporad, “An algorithm for multi-parametric quadratic programming and explicit MPC solutions,” in Proc. 40th IEEE Conf. on Decision and Control, Orlando, Florida, 2001, pp. 1199–1204.
 F. Borrelli, M. Baotić, A. Bemporad, and M. Morari, “Eﬃcient on-line computation of constrained optimal control laws,” in Proc. 40th IEEE Conf. on Decision and Control, Orlando, Florida, 2001, pp. 1187–1192.
 A. Bemporad, F. Borrelli, L. Glielmo, and F. Vasca, “Hybrid control of dry clutch engagement,” in Proc. European Control Conf., Porto, Portugal, Oct. 2001.
 A. Bemporad, F. Borrelli, and M. Morari, “Piecewise linear robust model predictive control,” in Proc. European Control Conf., Porto, Portugal, Oct. 2001.
 A. Bemporad and M. Morari, “Optimization-based hybrid control tools,” in Proc. American Contr. Conf., Arlington, VA, 2001.
 A. Bemporad, F. Borrelli, L. Glielmo, and F. Vasca, “Optimal piecewise-linear control of dry clutch engagement,” in IFAC Workshop Advances in Automotive Control, Karlsruhe, Germany, Mar. 2001, pp. 33–38.
 A. Bemporad, L. Giovanardi, and F.D. Torrisi, “Performance driven reachability analysis for optimal scheduling and control of hybrid systems,” in Proc. 39th IEEE Conf. on Decision and Control, Sydney, Australia, Dec. 2000, pp. 969–974.
 A. Bemporad, F.D. Torrisi, and M. Morari, “Performance analysis of piecewise linear systems and model predictive control systems,” in Proc. 39th IEEE Conf. on Decision and Control, Sydney, Australia, Dec. 2000, pp. 4957–4962.
 A. Bemporad, F. Borrelli, and M. Morari, “The explicit solution of constrained LP-based receding horizon control,” in Proc. 39th IEEE Conf. on Decision and Control, Sydney, Australia, Dec. 2000, pp. 632–637.
 A. Bemporad, F. Borrelli, and M. Morari, “Optimal controllers for hybrid systems: Stability and piecewise linear explicit form,” in Proc. 39th IEEE Conf. on Decision and Control, Sydney, Australia, Dec. 2000, pp. 1810–1815.
 A. Bemporad, K. Fukuda, and F.D. Torrisi, “On convexity recognition of the union of polyhedra,” in Proc. Int. Conf. on Advances in Convex Analysis and Global Optimization, Samos, Greece, June 2000, pp. 64–65.
 A. Bemporad, L. Giovanardi, and F.D. Torrisi, “Robust simulation of nonlinear electronic circuits,” in Proceedings of the 8th IEEE International Workshop on Nonlinear Dynamics of Electronic Systems, R. Rovatti G. Setti and G. Mazzini, Eds., Catania (Italy), May 2000, pp. 131–135.
 A. Bemporad, M. Morari, V. Dua, and E.N. Pistikopoulos, “The explicit linear quadratic regulator for constrained systems,” in Proc. American Contr. Conf., Chicago, IL, June 2000, pp. 872–876.
 A. Bemporad, F. Borrelli, and M. Morari, “Piecewise linear optimal controllers for hybrid systems,” in Proc. American Contr. Conf., Chicago, IL, June 2000, pp. 1190–1194.
 E.C. Kerrigan, A. Bemporad, D. Mignone, M. Morari, and J.M. Maciejowski, “Multi-objective prioritisation and reconﬁguration for the control of constrained hybrid systems,” in Proc. American Contr. Conf., Chicago, IL, 2000, pp. 1694–1698.
 A. Bemporad, N.A. Bozinis, V. Dua, M. Morari, and E.N. Pistikopoulos, “Model predictive control: A multi-parametric programming approach,” in Proc. European Symposium on Computer Aided Process Engineering-10, Florence, Italy, May 2000, pp. 301–306.
 A. Bemporad, G. Ferrari-Trecate, and M. Morari, “Observability and controllability of piecewise aﬃne and hybrid systems,” in Proc. 38th IEEE Conf. on Decision and Control, Phoenix, AZ, Dec. 1999, pp. 3966–3971.
 A. Bemporad, G. Ferrari-Trecate, D. Mignone, M. Morari, and F.D. Torrisi, “Model predictive control — Ideas for the next generation,” in Proc. European Control Conf., Karlsruhe, Germany, Aug. 1999.
 A. Bemporad, D. Mignone, and M. Morari, “Moving horizon estimation for hybrid systems and fault detection,” in Proc. American Contr. Conf., Chicago, IL, June 1999, pp. 2471–2475.
 D. Mignone, A. Bemporad, and M. Morari, “A framework for control, fault detection, state estimation and veriﬁcation of hybrid systems,” Proc. American Contr. Conf., pp. 134–138, June 1999.
 A. Bemporad, D. Mignone, and M. Morari, “An eﬃcient branch and bound algorithm for state estimation and control of hybrid systems,” in Proc. European Control Conf., Karlsruhe, Germany, Aug. 1999.
 A. Bemporad, “Reducing conservativeness in predictive control of constrained systems with disturbances,” in Proc. 37th IEEE Conf. on Decision and Control, Tampa, FL, 1998, pp. 1384–1391.
 A. Bemporad, “Predictive control of teleoperated constrained systems with unbounded communication delays,” in Proc. 37th IEEE Conf. on Decision and Control, Tampa, FL, 1998, pp. 2133–2138.
 A. Bemporad and E. Mosca, “Constrained predictive control with terminal ellipsoid constraint and artiﬁcial Lyapunov functions,” in Proc. 36th IEEE Conf. on Decision and Control, San Diego, CA, 1997, pp. 3218–3219.
 A. Bemporad, M. Di Marco, and A. Tesi, “Wall-following controllers for sonar-based mobile robots,” in Proc. 36th IEEE Conf. on Decision and Control, San Diego, CA, Dec. 1997, pp. 3063–3068.
 A. Bemporad and A. Garulli, “Predictive control via set-membership state estimation for constrained linear systems with disturbances,” in Proc. European Control Conf., Bruxelles, Belgium, July 1997.
 A. Bemporad, “Control of constrained nonlinear systems via reference management,” in Proc. American Contr. Conf., Albuquerque, NM, 1997, pp. 3343–3347.
 A. Bemporad and T.J. Tarn, “On-line path parameterization for manipulators with input/state constraints,” in IEEE/ASME International Conference on Advanced Intelligent Mechatronics ’97, Tokio, June 1997, IEEE, New York.
 A. Bemporad, A. Casavola, and E. Mosca, “Ottimizzazione in linea del set-point per processi industriali soggetti a saturazioni o vincoli sullo stato,” in Proc. 41th ANIPLA National Congress “Automazione 97”, Torino, Italy, Nov. 1997, In Italian.
 A. Bemporad and E. Mosca, “Robust nonlinear reference ﬁltering for constrained linear systems with uncertain impulse/step responses,” in Proc. 35th IEEE Conf. on Decision and Control, Kobe, Japan, Dec. 1996, pp. 3527–3528.
 A. Bemporad, A. De Luca, and G. Oriolo, “Local incremental planning for a car-like robot navigating among obstacles,” in Proc. IEEE Conf. Robotics and Automation, Minneapolis, USA, Apr. 1996, pp. 1205–1211.
 A. Bemporad, A. Casavola, and E. Mosca, “A nonlinear command governor for constrained control systems,” in Proc. 13th IFAC World Congress, San Francisco, CA, June 1996, pp. 473–478.
 A. Bemporad, A. Casavola, and E. Mosca, “A predictive reference governor for constrained control systems,” in Proc. ASI - Annual ICIMS-NOE conference, Tolosa, France, June 1996, pp. 231–238.
 A. Bellini, A. Bemporad, E. Franchi, N. Manaresi, R. Rovatti, and G. Torrini, “Analog fuzzy implementation of a vehicle traction sliding-mode control,” in Proc. ISATA 29th International Symposium on Automotive Technology and Automation, Florence, Italy, 1996, pp. 275–282.
 A. Bemporad and E. Mosca, “Nonlinear predictive reference ﬁltering for constrained tracking,” in Proc. European Control Conf., Roma, Italy, 1995, pp. 1720–1725.
 A. Bemporad and E. Mosca, “Nonlinear predictive reference governor for constrained control systems,” in Proc. 34th IEEE Conf. on Decision and Control, New Orleans, LA, 1995, pp. 1205–1210.
 A. Bemporad and E. Mosca, “Reference management predictive control,” in EURACO Workshop, Florence, Italy, Sept. 1995, pp. 463–490.
 A. Bemporad and E. Mosca, “Constraint fulﬁlment in control systems via predictive reference management,” in Proc. 33rd IEEE Conf. on Decision and Control, Lake Buena Vista, FL, 1994, pp. 3016–3022.
 A. Bemporad and E. Mosca, “Constraint fulﬁlment in feedback control via predictive reference management,” in Proc. 3rd IEEE Conf. on Control Applications, Glasgow, U.K., 1994, pp. 1909–1914.
 V. Breschi, D. Piga, and A. Bemporad, “Maximum-a-posteriori estimation of jump Box-Jenkins models,” Submitted.
 D. Masti, D. Bernardini, and A. Bemporad, “Learning virtual sensors for estimating the scheduling signal of parameter-varying systems,” in 27th Mediterranean Conference on Control and Automation. Akko, Israel, 2019, Submitted.
 A. Bemporad, M. Morari, and N.L. Ricker, Model Predictive Control Toolbox for Matlab – User’s Guide, The Mathworks, Inc., 2004, http://www.mathworks.com/access/helpdesk/help/toolbox/mpc/.
 A. Bemporad, Hybrid Toolbox – User’s Guide, Dec. 2003, http://cse.lab.imtlucca.it/~bemporad/hybrid/toolbox.
 B. Stellato, G. Banjac, P. Goulart, A. Bemporad, and S. Boyd, “osQP - the operator splitting QP solver,” 2017.
 A. Agnetis and A. Bemporad, “Automazione,” in Enciclopedia della Scienza e della Tecnica “G. Treccani”, vol. 5. Rome, Italy, 2008, In Italian.
 A. Bemporad, “Voci ‘attuatore’, ‘automatica’, ‘azionamento’, ‘controllo predittivo’, ‘domotica’, ‘retroazione’, ‘robot’, ‘servosistema’,” in Enciclopedia della Scienza e della Tecnica “G. Treccani”, vol. 6. Rome, Italy, 2008, In Italian.
 M. Graf Plessen and A. Bemporad, “A framework for learning to trade,” Technical report.
 M. Graf Plessen and A. Bemporad, “Recursive trajectory planning for autonomous vehicles using generalized elementary paths,” 2017.
 A. Bemporad, D. Bernardini, and P. Patrinos, “A convex feasibility approach to anytime model predictive control,” Tech. Rep., IMT Institute for Advanced Studies, Lucca, Feb. 2015, http://arxiv.org/abs/1502.07974.
 A. Bemporad, C.A. Pascucci, and C. Rocchi, “Hierarchical and model predictive control of a quadcopter unmanned aerial vehicle,” 2011, Submitted for publication.
 A. Bemporad, F. Bianchi, and F. Rossi, “A wireless sensor measurement station for agricultural applications,” Tech. Rep. 2009-1, Dept. Information Engineering, University of Siena, Italy, 2009.
 D. Muñoz de la Peña, T. Alamo, A. Bemporad, and E.F. Camacho, “Approximate feedback min-max model predictive control with recourse horizon,” 2007.
 M. P. Silva, L. Pina, A. Bemporad, M. Ayala Botto, and J. Sá da Costa, “Robust optimal control of linear hybrid systems: An MLD approach,” 2004.
 A. Bemporad, D. Muñoz de la Peña, and P. Piazzesi, “Optimal control of investments for quality of supply improvement in electrical energy distribution networks,” Tech. Rep. 2006-1, Dip. Ingegneria dell’Informazione, Univ. of Siena, 2006.
 A. Bemporad and S. Di Cairano, “Modelling and optimal control of hybrid systems with event uncertainty,” Tech. Rep., University of Siena, 02/04, 2004, http://www.dii.unisi.it/~dicairano/papers/tr0204.pdf.
 A. Bemporad, “Multiparametric nonlinear integer programming and explicit quantized optimal control,” Tech. Rep. 06/03, Dept. Information Engineering, University of Siena, Italy, 2003, http://cse.lab.imtlucca.it/~bemporad.
 A. Bemporad, “Modeling, control, and reachability analysis of discrete-time hybrid systems,” Lecture Notes - DISC School on Hybrid Systems, Mar. 2003.
 A. Bemporad and M. Egerstedt, “Discrete time minimum attention control,” 2002.
 A. Bemporad and C. Filippi, “Suboptimal explicit RHC via approximate multiparametric quadratic programming,” Tech. Rep. AUT02-07, Automatic Control Laboratory, ETH Zurich, Switzerland, May 2002.
 F. Torrisi, A. Bemporad, G. Bertini, P. Hertach, D. Jost, and Mignone D., “Hysdel 2.0.5 - user manual,” Tech. Rep. AUT02-28, Automatic Control Laboratory, ETH Zurich, 2002.
 F. Rusconi, A. Bemporad, M. Morari, and R. Rovaglio, “Using MPC as master controller for integrated gasiﬁcation combined cycle processes,” 2002.
 A. Bemporad, L. Giovanardi, and F.D. Torrisi, “Performance driven reachability analysis for optimal scheduling and control of hybrid systems,” Tech. Rep. AUT00-15, Automatic Control Laboratory, ETH Zurich, Switzerland, Sept. 2000, To be submitted.
 F.D. Torrisi, A. Bemporad, and D. Mignone, “HYSDEL - A language for describing hybrid systems,” Tech. Rep. AUT00-03, ETH Zurich, 2000, http://control.ethz.ch/~hybrid/hysdel.
 A. Bemporad, J. Roll, and L. Ljung, “Identiﬁcation of hybrid systems via mixed-integer programming,” Tech. Rep. AUT00-29, ETH, Zurich, Oct. 2000.
 A. Bemporad, “Identiﬁcation of hybrid systems: Global convergence via mixed-integer programming,” Tech. Rep. AUT00-28, ETH, Zurich, Sept. 2000.
 A. Bemporad, M. Morari, and N.L. Ricker, “The MPC simulink library,” Tech. Rep. AUT01-08, Automatic Control Laboratory, ETH, Zurich, Switzerland, 2000, Code available upon request from the authors.
 C. Pedret, A. Poncet, K. Stadler, A. Toller, A. Glattfelder, A. Bemporad, and M. Morari, “Model-varying predictive control of a nonlinear system,” Tech. Rep. AUT00-07, ETH Zurich, Feb. 2000.
 A. Bemporad, MLD2PWA.M: A MATLAB function for translating mixed logical dynamical systems into piecewise aﬃne systems, University of Siena, 2002, See related web page at http://cse.lab.imtlucca.it/~bemporad/hybrid/tools/mld2pwa/.
 A. Bemporad and D. Mignone, MIQP.M: A Matlab function for solving mixed integer quadratic programs, 2000, http://cse.lab.imtlucca.it/~bemporad/hybrid/tools/miqp.
 M. Anlauﬀ, A. Bemporad, S. Chakraborty, D. Mignone P. Kutter, M. Morari, A. Pierantonio, and L. Thiele, “From ease in programming to easy maintenance : Extending DSL usability with Montages,” Tech. Rep., ETH Zurich, 1999.
 V. Dua, E.N. Pistikopoulos, N. Bozinis, A. Bemporad, and M. Morari, “Multiparametric quadratic programming,” 1999.
 A. Bemporad, A. De Luca, and G. Oriolo, “Hierachical local incremental planners for mobile robots navigating among obstacles,” Tech. Rep. 26/97, University of Florence, Dip. Sistemi e Informatica, 1997.
 A. Bemporad, Reference Governors: On-Line Set-Point Optimization Techniques for Constraint Fulﬁllment, Ph.D. dissertation, Dipartimento di Sistemi e Informatica, University of Florence, Firenze, Italy, October 1997.
 A. Bemporad, “Controllo predittivo in presenza di vincoli e gestione in linea del riferimento,” M.S. thesis, Università di Firenze, Facoltà di Ingegneria, Florence, Italy, Dec. 1993, In Italian.
 V. Alﬁeri, G. Mazzara Bologna, G. Conte, A. Bemporad, and D. Bernardini, “A method for controlling an injector for injecting a reductant into an exhaust system of an internal combustion engine,” http://www.pat2pdf.org/patents/pat10196956.pdf.
 M. Livshiz, C.E. Whitney, K.C. Wong, D. Bernardini, and A. Bemporad, “Coordination of torque interventions in MPC-based powertrain control,” https://www.pat2pdf.org/patents/pat10119481.pdf.
 M. Livshiz, C.E. Whitney, K.C. Wong, D. Bernardini, and A. Bemporad, “Propulsion system control with MPC,” https://www.pat2pdf.org/patents/pat9963150.pdf.
 M. Livshiz, C.E. Whitney, K.C. Wong, D. Bernardini, and A. Bemporad, “Axle torque control system for a motor vehicle,” https://www.pat2pdf.org/patents/pat9789876.pdf.
 J.R. Verdejo, A. Bemporad, D. Bernardini, R. Long, and J.-S. Chen, “Estimation systems and methods with model predictive control,” https://patents.google.com/patent/US20150275794.
 R. Long, A. Bemporad, D. Bernardini, and N. Jin, “Model predictive control systems and methods for internal combustion engines,” https://patents.google.com/patent/US20150275793.
 K. Wong, C. Whitney, A. Bemporad, and D. Bernardini, “System and method for managing the period of a control loop for controlling an engine using model predictive control,” https://patents.google.com/patent/US9435274B2.
 C. Whitney, K. Wong, G. Cygan, A. Bemporad, and D. Bernardini, “System and method for adjusting a torque capacity of an engine using model predictive control,” https://patents.google.com/patent/US9399959B2.
 G. Cygan, J. Verdejo, C. Whitney, A. Bemporad, and D. Bernardini, “Artiﬁcial output reference for model predictive control,” https://patents.google.com/patent/US9388754B2.
 R. Long, G. Cygan, J. Verdejo, C. Whitney, N. Jin, A. Bemporad, and D. Bernardini, “Model predictive control systems and methods for internal combustion engines,” https://patents.google.com/patent/US9347381B2.
 G. Cygan, J. Verdejo, N. Jin, A. Bemporad, and D. Bernardini, “System and method for improving the response time of an engine using model predictive control,” https://patents.google.com/patent/US9334815B2.
 M. Gubert, D. Taglioni, D. Bernardini, and A. Bemporad, “Optimization and control method for a distributed micro-generation energy plant,” http://www.google.com/patents/EP2919079A2.
 M. Storace, T. Poggi, A. Oliveri, and A. Bemporad, “Method for creating digital circuits of a feedback control system that implements an approximation technique for model predictive control (MPC),” https://patents.google.com/patent/EP2672340A1.

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