@article{Li_1997,
title={Cost smoothing in discrete-time linear-quadratic control},
volume={33},
ISSN={0005-1098},
url={http://dx.doi.org/10.1016/s0005-1098(96)00171-9},
DOI={10.1016/s0005-1098(96)00171-9},
number={3},
journal={Automatica},
publisher={Elsevier BV},
author={Li,
Duan and Schmidt,
Christopher Wayne},
year={1997},
month=mar,
pages={447–452} }