@INPROCEEDINGS{DeoriEtAl2015,
  author = {L. Deori, S. Garatti and M. Prandini},
  title = {Stochastic control with input and state constraints: A relaxation technique to ensure feasibility},
  booktitle = {2015 54th IEEE Conference on Decision and Control (CDC), Osaka, 2015, pp. 3786-3791},
  year = {2015},
}