A note on stability, robustness and performance of output feedback nonlinear model predictive control. Imsland, L., Findeisen, R., Bullinger, E., Allgöwer, F., & Foss, B. J.\ Proc.\ Contr., 13(7):633-644, 2003.
bibtex   
@ARTICLE{ist:imsland01b,
  author = {Imsland, L. and Findeisen, R. and Bullinger, E. and Allg{\"o}wer,
	F. and Foss, B.A.},
  title = {A note on stability, robustness and performance of output feedback
	nonlinear model predictive control.},
  journal = {J.\ Proc.\ Contr.},
  year = {2003},
  volume = {13},
  pages = {633-644},
  number = {7},
  pubtype = {journal}
}

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