Fikar, M., Unbehauen, H.: Polynomial Approach to Constrained Receding Horizon Predictive Control. IFAC Conference Control Systems Design CSD00, Bratislava, Slovak Republic, June 18-20. Preprints, 247-252, 2000.

This contribution addresses an alternative stability proof of the Constrained Receding Horizon Predictive Control (CRHPC) problem based on the closed-loop design. The second aim of this paper is to show that the actual horizon lengths are too conservative. A modified method that zeroes only the tracking error while relaxing the assumption about future control increments is derived. Again, the stability proof is performed directly in closed-loop and not as usually, in open-loop. Finally, it is shown how to rewrite the proposed controller within the predictive control framework.