Lazar, Mircea and Heemels, W.P.M.H. and Bemporad, Alberto and Weiland, Siep
Discrete-time non-smooth nonlinear MPC: Stability and robustness.
In:
Assessment and Future Directions of Nonlinear Model Predictive Control.
Springer-Verlag, pp. 93-103.
ISBN 978-3-540-72698-2
(2007)