Andrea Balluchi Federico Di Natale Alberto L. Sangiovanni-Vincentelli Jan H. van Schuppen Synthesis for Idle Speed Control of an Automotive Engine. 80-94 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2993&spage=80 2004 conf/hybrid/2004 HSCC db/conf/hybrid/hscc2004.html#BalluchiNSS04