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D. M. de la Pena, D. R. Ramirez, E. F. Camacho and T. Alamo, “Application of an Explicit Min-Max MPC to a Scaled Laboratory Process,” Control Engineering Practice, Vol. 13, No. 12, 2005, pp. 1463-1471. doi:10.1016/j.conengprac.2004.12.008

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