A quasi-infinite horizon predictive control scheme for constrained nonlinear systems. Chen, H. & Allgöwer, F. IEE Control Theory Appl., 16(3):313-319, 1999.
bibtex   
@ARTICLE{ist:chen99a,
  author = {Chen, H. and Allg{\"o}wer, F.},
  title = {A quasi-infinite horizon predictive control scheme for constrained
	nonlinear systems},
  journal = {IEE Control Theory Appl.},
  year = {1999},
  volume = {16},
  pages = {313-319},
  number = {3},
  pubtype = {journal}
}

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