@article{garca1989,
  title={Model predictive control: Theory and practice—A survey},
  author={Carlos E. García and David M. Prett and Manfred Morari},
  year={1989},
  journal={Automatica},
  doi={10.1016/0005-1098(89)90002-2},
  url={https://doi.org/10.1016/0005-1098(89)90002-2}
}