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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.

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D.Q. Mayne, H. Michalska · IEEE Transactions on Automatic Control · 1990 · 967 citations

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