Meeko Oishi Claire Tomlin Vipin Gopal Datta N. Godbole Addressing Multiobjective Control: Safety and Performance through Constrained Optimization. 459-472 2001 conf/hybrid/2001 HSCC http://link.springer.de/link/service/series/0558/bibs/2034/20340459.htm db/conf/hybrid/hscc2001.html#OishiTGG01