Ibrahim Awad, Ian B. Rhodes. Regulator problems with a cost for applying or changing control. Automatica, 11(2):171-180, 1975. [doi]
@article{AwadR75,
title = {Regulator problems with a cost for applying or changing control},
author = {Ibrahim Awad and Ian B. Rhodes},
year = {1975},
doi = {10.1016/0005-1098(75)90058-8},
url = {https://doi.org/10.1016/0005-1098(75)90058-8},
researchr = {https://researchr.org/publication/AwadR75},
cites = {0},
citedby = {0},
journal = {Automatica},
volume = {11},
number = {2},
pages = {171-180},
}