Phuoc, N. D., and L. T. T. Ha. “Constrained Output Tracking Control for Time-Varying Bilinear Systems via RHC With Infinite Prediction Horizon”. Journal of Computer Science and Cybernetics, vol. 31, no. 2, June 2015, pp. 97-106, doi:10.15625/1813-9663/31/2/5793.