A Unifying Framework for Stability in MPC using a Generalized Integral Terminal Cost. Reble, M., Quevedo, D. E., & Allgöwer, F. In Proc.\ American Control Conf.\ (ACC), pages 1211-1216, Montreal, Canada, 2012.
bibtex   
@INPROCEEDINGS{ist:reble12c,
  author = {Reble, M. and Quevedo, D. E. and Allg{\"o}wer, F.},
  title = {A Unifying Framework for Stability in {MPC} using a Generalized Integral
	Terminal Cost},
  booktitle = {Proc.\ American Control Conf.\ (ACC)},
  year = {2012},
  pages = {1211-1216},
  address = {Montreal, Canada},
  pubtype = {proceeding}
}

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