rank Quasi-Infinite Horizon Nonlinear Model Predictive Control Scheme with Guaranteed Stability.

H. Chen Frank Allgöwer rank Quasi-Infinite Horizon Nonlinear Model Predictive Control Scheme with Guaranteed Stability. 1205-1217 1998 34 Automatica 10 http://dx.doi.org/10.1016/S0005-1098(98)00073-9 db/journals/automatica/automatica34.html#ChenA98