Generalized predictive control—Part I. The basic algorithm - Clarke, D.W.; Mohtadi, C.; Tuffs, P.S. (Automatica (Oxford), 1987)
Keywords: Adaptive control; LQ control; nonminimum-phase plant; predictive control; self-tuning control; self-tuning control; LQ control; nonminimum-phase plant; predictive control; Adaptive control