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D. Q. Mayne, J. B. Rawlings, C. V. Rao and P. O. M. Scokaert, “Constrained Model Predictive Control: Stability and Optimality,” Automatica, Vol. 36, No. 6, 200, pp. 789-814. doi:10.1016/S0005-1098(99)00214-9
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