A. Bemporad, M. Morari, V. Dua, P. , and E. , The explicit linear quadratic regulator for constrained systems, Automatica, vol.38, issue.1, pp.3-20, 2002.

G. Bitsoris, On the positive invariance of polyhedral sets for discrete-time systems, Systems & Control Letters, vol.11, issue.3, pp.243-248, 1988.

J. Bobrow, S. Dubowsky, and J. Gibson, Time-optimal control of robotic manipulators along specified paths, The International Journal of Robotics Research, vol.4, issue.3, p.3, 1985.

N. Chetaev, On the instability of equilibrium in some cases where the force function is not maximum, Prikl. Mat. Mekh, issue.1, p.16, 1952.

D. Mayne, J. Rawlings, C. Rao, and P. O. Scokaert, Constrained model predictive control: Stability and optimality, Automatica, vol.36, pp.789-814, 2000.

G. Pannocchia, S. Wright, and J. Rawlings, Existence and computation of infinite horizon model predictive control with active steady-state input constraints, IEEE Transactions on Automatic Control, vol.48, issue.6, pp.1002-1006, 2003.

H. Poincaré and R. Magini, Les méthodes nouvelles de la mécanique céleste, Il Nuovo Cimento, vol.10, issue.1, pp.128-130, 1899.

M. Seron, J. De-dona, and G. Goodwin, Global analytical model predictive control with input constraints, Proceedings of the 39th IEEE Conference on Decision and Control, pp.154-159, 2002.

Z. Shiller, Obstacle traversal for space exploration, Robotics and Automation, vol.2, pp.989-994, 2000.