More information on continuous time MPC can be found in the survey by The nowadays standard framework for stability and feasibility of MPC with stabilizing terminal constraints is presented in Mayne Stability of MPC without terminal constraints was proved in Grimm et al. (2005) under very general conditions, for a comparison of various such results see Grüne, for a continuous time version see Fontes Feasibility without terminal constraints is discussed in Kerrigan (2000) and Primbs and Nevisti´cNevisti´c, 2000. ,

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