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@article{TUW-189865,
    author = {Graichen, Knut and Kugi, Andreas and Petit, Nicolas and Chaplais, Francois},
    title = {Handling constraints in optimal control with saturation functions and system extension},
    journal = {Systems {\&} Control Letters},
    year = {2010},
    volume = {59},
    pages = {671--679},
    doi = {10.1016/j.sysconle.2010.08.003}
}