A Robustly Stabilizing Model Predictive Control Algorithm. Ackmece, A & Carson III, J. M Technical Report 2007.
bibtex   
@techreport{ackmece2007robustly,
  title={A Robustly Stabilizing Model Predictive Control Algorithm},
  author={Ackmece, A and Carson III, John M},
  year={2007}
}

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