@article{eprints467,
            year = {1998},
           title = {A predictive controller with artificial Lyapunov function for linear systems with input/state constraints},
           pages = {1255--1260},
          number = {10},
          volume = {34},
           month = {October},
          author = {Alberto Bemporad},
       publisher = {Elsevier},
         journal = {Automatica},
        abstract = {This paper copes with the problem of satisfying input and/or state hard constraints in set-point tracking problems. Stability is guaranteed by synthesizing a Lyapunov quadratic function for the system, and by imposing that the terminal state lies within a level set of the function. Procedures to maximize the volume of such an ellipsoidal set are provided, and interiorpoint methods to solve on-line optimization are considered.},
             url = {http://eprints.imtlucca.it/467/},
        keywords = {Predictive control; constraints; Lyapunov function; set-point control; optimization problems; interior-point methods; quadratically constrained quadratic programming}
}