@article{
GerDeS:08-015,
author={M. Gerard and B. {D}e Schutter and M. Verhaegen},
title={A Hybrid Steepest Descent Method for Constrained Convex
Optimization},
journal={Automatica},
volume={45},
number={2},
pages={525--531},
month=feb,
year={2009},
doi={
10.1016/j.automatica.2008.08.018}
}