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P. Mhaskar, N. H. El-Farra and P. D. Christofides, “Stabi lization of Nonlinear Systems with State and Control Con straints Using Lyapunov-Based Predictive Control,” Sys tems and Control Letters, Vol. 55, No. 8, 2006, pp. 650-659. doi:10.1016/j.sysconle.2005.09.014

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