?url_ver=Z39.88-2004&rft_id=10.1016%2Fj.jprocont.2006.01.003&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.aufirst=H.&rft.aulast=Zabiri&rft.au=Zabiri%2C+H.&rft.title=Journal+of+Process+Control&rft.date=2006&rft.volume=16&rft.issn=09591524&rft.issue=7&rft.pages=693-709&rft.atitle=A+hybrid+formulation+and+design+of+model+predictive+control+for+systems+under+actuator+saturation+and+backlash&rft.genre=article