@article{article013b0dfc,
title   = {A gradient-based strategy for the one-layer RTO + MPC controller},
author = {Álamo, Teodoro and Ferramosca, Antonio and Gonzalez, Alejandro H. and Limon, Daniel and Odloak, Darci},
year = {2014},
doi = {10.1016/j.jprocont.2014.02.018},
journal   = {Journal of Process Control}
}