1. Bemporad, A. (2009). Model Predictive Control: Basic Concepts. http://www.seas.upenn.edu/~ese680/papers/IntroductionMPC.pdf
2. Borrelli, F., Bemporad, A., Morari, M. (2015). Predictive Control for linear and hybrid systems, http://www.mpc.berkeley.edu/mpc-course-material
3. Boyd, S. (2008). Model Predictive Control. http://stanford.edu/class/ee364b/lectures/mpc_slides.pdf
4. Camacho, E.F., Bordons, C. (2007). Model Predictive control, Advanced Textbooks in Control and Signal Processing, Springer.
5. A multidisciplinary approach for Model Predictive Control Education: A Lego Mindstorms NXT-based Framework, Regular Papers Control Applications;Canale;International Journal of Control, Automation and Systems,2014