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A Quasi-Infinite Horizon Nonlinear Model Predictive Control Scheme with Guaranteed Stability∗∗This paper was not presented at any IFAC meeting. This paper was accepted for publication in revised form by Associate Editor W. Bequette under the direction of Editor Prof. S. Skogestad.

Nonlinear ControlRevised FormEngineeringIfac MeetingModel-based Control TechniqueModel Predictive ControlGuaranteed Stability∗∗this PaperStability