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MR1829182 93D05 (49N10 93-02 93C40)
Mayne, D. Q.; Rawlings, J. B.; Rao, C. V.; Scokaert, P. O. M. Constrained model predictive control: stability and optimality. Automatica J. IFAC 36 (2000), no. 6, 789–814.
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