Giulio M. Mancuso, Eric C. Kerrigan. Solving constrained LQR problems by eliminating the inputs from the QP. In Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, Orlando, FL, USA, December 12-15, 2011. pages 507-512, IEEE, 2011. [doi]
Abstract is missing.