Input-to-state stability properties of relaxed barrier function based MPC. Feller, C. & Ebenbauer, C. In Proc.\ IFAC Conf.\ Nonlinear Model Predictive Control (NMPC), volume 48, pages 302-307, Seville, Spain, 2015.
bibtex   
@INPROCEEDINGS{ist:feller15b,
  author = {Feller, C. and Ebenbauer, C.},
  title = {Input-to-state stability properties of relaxed barrier function based
	MPC},
  booktitle = {Proc.\ IFAC Conf.\ Nonlinear Model Predictive Control (NMPC)},
  year = {2015},
  volume = {48},
  number = {23},
  pages = {302-307},
  address = {Seville, Spain},
  pubtype = {proceeding}
}

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