Generalized Stabilizing Conditions for Model Predictive Control

@article{Mayne2016GeneralizedSC,
  title={Generalized Stabilizing Conditions for Model Predictive Control},
  author={David Q. Mayne and Paola Falugi},
  journal={J. Optimization Theory and Applications},
  year={2016},
  volume={169},
  pages={719-734}
}
This note addresses the tracking problem for model predictive control. It presents simple procedures for both linear and nonlinear constrained model predictive control when the desired equilibrium state is any point in a specified set. The resultant region of attraction is the union of the regions of attraction for each equilibrium state in the specified set and is therefore larger than that obtained when conventional model predictive control is employed. 

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