@misc{yang2013constrained,
  title={Constrained LQR Design Using Interior-Point Arc-Search Method for Convex Quadratic Programming with Box Constraints},
  author={Yaguang Yang},
  year={2013},
  eprint={1304.4685},
  archivePrefix={arXiv},
  primaryClass={math.OC},
  doi={10.1007/s11075-022-01279-x},
  url={https://arxiv.org/abs/1304.4685}
}