A stabilizing iteration scheme for model predictive control based on relaxed barrier functions. Feller, C. & Ebenbauer, C. Automatica, 80:328–339, 2017.
bibtex   
@ARTICLE{ist:feller17b,
  author = {Feller, C. and Ebenbauer, C.},
  title = {A stabilizing iteration scheme for model predictive control based
	on relaxed barrier functions},
  journal = {Automatica},
  year = {2017},
  volume = {80},
  pages = {328--339},
  pubtype = {journal}
}

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