Robust stable model predictive control with constraint tightening. Richards, A. and How, J. In 2006 American Control Conference, pages 6--pp, 2006. IEEE.
bibtex   
@INPROCEEDINGS{richards2006robust,
  author = {Richards, Arthur and How, Jonathan},
  title = {Robust stable model predictive control with constraint tightening},
  booktitle = {2006 American Control Conference},
  year = {2006},
  pages = {6--pp},
  organization = {IEEE}
}
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