1. Clarke, D.W.: ‘Advances in Model-Based Predictive Control’, (Oxford University Press 1994)
2. Constrained model predictive control: Stability and optimality
3. Maciejowski, J.: ‘Predictive Control with Constraints’, (Prentice Hall, UK 2001)
4. Bitmead, R.R., Gevers, M., and Wertz, V.: ‘Adaptive Optimal Control: The Thinking Man's GPC’, (Prentice-Hall, Englwood Cliffs, NJ 1990)
5. The stability of constrained receding horizon control