Improved Stability Conditions for Unconstrained Nonlinear Model Predictive Control by using Additional Weighting Terms. Reble, M., Quevedo, D. E., & Allgöwer, F. In Proc.\ 51st IEEE Conf.\ Decision and Control (CDC), pages 2625-2630, Maui, HI, USA, 2012.
bibtex   
@INPROCEEDINGS{ist:reble12e,
  author = {Reble, M. and Quevedo, D. E. and Allg{\"o}wer, F.},
  title = {Improved Stability Conditions for Unconstrained Nonlinear Model Predictive
	Control by using Additional Weighting Terms},
  booktitle = {Proc.\ 51st IEEE Conf.\ Decision and Control (CDC)},
  year = {2012},
  pages = {2625-2630},
  address = {Maui, HI, USA},
  pubtype = {proceeding}
}

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