The Role of Sampling for Stability and Performance in Unconstrained Nonlinear Model Predictive Control. Worthmann, K., Reble, M., Grüne, L., & Allgöwer, F. SIAM J.\ Control Optim., 52(1):581-605, 2014.
bibtex   
@ARTICLE{ist:worthmann14a,
  author = {Worthmann, K. and Reble, M. and Gr{\"u}ne, L. and Allg{\"o}wer, F.},
  title = {The Role of Sampling for Stability and Performance in Unconstrained
	Nonlinear Model Predictive Control},
  journal = {SIAM J.\ Control Optim.},
  year = {2014},
  volume = {52},
  pages = {581-605},
  number = {1},
  pubtype = {journal}
}

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