Nonlinear model predictive control schemes with guaranteed stability. Chen, H. & Allgöwer, F. In Berber, R. & Kravaris, C., editors, Nonlinear Model Based Process Control, pages 465-494. Kluwer Academic Publishers, Dordrecht, The Netherlands, 1998.
bibtex   
@INCOLLECTION{ist:chen97d,
  author = {Chen, H. and Allg{\"o}wer, F.},
  title = {Nonlinear model predictive control schemes with guaranteed stability},
  booktitle = {Nonlinear Model Based Process Control},
  publisher = {Kluwer Academic Publishers},
  year = {1998},
  editor = {R. Berber and C. Kravaris},
  pages = {465-494},
  address = {Dordrecht, The Netherlands},
  pubtype = {book}
}
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