Melanie N. Zeilinger Colin Neil Jones Manfred Morari Real-time suboptimal model predictive control using a combination of explicit MPC and online optimization. 4718-4723 2008 CDC http://dx.doi.org/10.1109/CDC.2008.4738813 conf/cdc/2008 db/conf/cdc/cdc2008.html#ZeilingerJM08