Piecewise-linear LQ control for systems with input constraints

@article{Wredenhagen1994PiecewiselinearLC,
  title={Piecewise-linear LQ control for systems with input constraints},
  author={G. F. Wredenhagen and P. R. B{\'e}langer},
  journal={Automatica},
  year={1994},
  volume={30},
  pages={403-416}
}

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