Nonlinear model predictive control : a sampled data feedback perspective. Findeisen, R. Ph.D. Thesis, Institute for Systems Theory and Automatic Control, University of Stuttgart, Stuttgart, Germany, 2004.
bibtex   
@PHDTHESIS{ist:findeisen04k,
  author = {Rolf Findeisen},
  title = {Nonlinear model predictive control : a sampled data feedback perspective},
  school = {Institute for Systems Theory and Automatic Control, University of
	Stuttgart},
  year = {2004},
  address = {Stuttgart, Germany},
  pubtype = {thesis}
}

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