@incollection{eprints603,
       booktitle = {Decision and Control Conference},
       publisher = {IEEE},
         journal = {Proc. 36th IEEE Conf. on Decision and Control},
          author = {Alberto Bemporad and Edoardo Mosca},
           title = {Constrained predictive control with terminal ellipsoid constraint and artificial Lyapunov functions},
            year = {1997},
          volume = {4},
         address = {San Diego, December 1997},
           pages = {3218--3219},
             url = {http://eprints.imtlucca.it/603/},
        abstract = {We deal 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. Algorithmic procedures to maximize the volume of such an ellipsoidal set are provided},
        keywords = {Lyapunov methods; asymptotic stability; closed loop systems; discrete time systems; predictive control; process control
    tracking
}
}