?url_ver=Z39.88-2004&rft_id=10.1007%2Fs12555-011-0517-4&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.au=Minh%2C+V.T.&rft.aulast=Minh&rft.aufirst=V.T.&rft.atitle=Tracking+setpoint+robust+model+predictive+control+for+input+saturated+and+softened+state+constraints&rft.pages=958-965&rft.issue=5&rft.volume=9&rft.issn=15986446&rft.date=2011&rft.title=International+Journal+of+Control%2C+Automation+and+Systems&rft.genre=article