@article{mayne2000,
  title={Constrained model predictive control: Stability and optimality},
  author={D.Q. Mayne and James B. Rawlings and Christopher V. Rao and P.O.M. Scokaert},
  year={2000},
  journal={Automatica},
  doi={10.1016/s0005-1098(99)00214-9},
  url={https://doi.org/10.1016/s0005-1098(99)00214-9}
}