@misc {IOPORT.70371976,
    author       = {Barcelliy, Davide and Bemporadz, Alberto and Ripaccioliy, Giulio},
    title        = {Hierarchical multi-rate control design for constrained linear systems},
    howpublished = {CDC, 5216-5221 (2010).},
    year         = {2010},
    doi          = {10.1109/CDC.2010.5717405},
    identifier   = {70371976},
}