Bibtex entry

        author={T.J.J. van den Boom and B. Heidergott and B. {D}e Schutter},
        title={Complexity reduction in {MPC} for stochastic max-plus-linear discrete event systems by variability expansion: Extended report},
        institution={Control Systems Engineering, Fac.\ of Information Technology and Systems, Delft University of Technology},
        address={Delft, The Netherlands},
        note={A short version of this report has been published in \emph{Automatica}, vol.\ 43, no.\ 6, pp.\ 1058--1063, June 2007}

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