Constrained model predictive control: Stability and optimality

@article{Mayne2000ConstrainedMP,
  title={Constrained model predictive control: Stability and optimality},
  author={David Q. Mayne and James B. Rawlings and Christopher V. Rao and Pierre O. M. Scokaert},
  journal={Autom.},
  year={2000},
  volume={36},
  pages={789-814}
}
Model predictive control is a form of control in which the current control action is obtained by solving, at each sampling instant, a finite horizon open-loop optimal control problem, using the current state of the plant as the initial state; the optimization yields an optimal control sequence and the first control in this sequence is applied to the plant. An important advantage of this type of control is its ability to cope with hard constraints on controls and states. It has, therefore, been… 
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