?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.aufirst=H.&rft.aulast=Zabiri&rft.au=Zabiri%2C+H.&rft.issn=14746670&rft.date=2004&rft.title=MPC+design+for+constrained+multivariable+systems+under+actuator+backlash&rft.genre=proceeding