@INPROCEEDINGS{Mollov1998PredictiveControlMultiple, author = {S. Mollov and R. Babu\v{s}ka and H.B. Verbruggen}, title = {Predictive Control by Multiple-Step Linearization of {T}akagi--{S}ugeno Fuzzy Models}, booktitle = {Proceedings IFAC/IMACS International Conference on Artificial Intelligence in Real-Time Control - AIRTC 98}, pages = {I-3}, year = 1998 }