%0 Journal Article %J JOURNAL OF PROCESS CONTROL %D 2012 %T Multivariable constrained process control via Lyapunov R-functions %A A. Balestrino %A A. Caiti %A S Grammatico %K Robotics %B JOURNAL OF PROCESS CONTROL %G eng %U http://dx.medra.org/10.1016/j.jprocont.2012.07.013 %R 10.1016/j.jprocont.2012.07.013