Tamás Keviczky Francesco Borrelli Gary J. Balas Decentralized receding horizon control for large scale dynamically decoupled systems. 2105-2115 2006 42 Automatica 12 http://dx.doi.org/10.1016/j.automatica.2006.07.008 db/journals/automatica/automatica42.html#KeviczkyBB06