Fikar, M., Unbehauen, H., Mikles, J.: Polynomial Approach to Stable Predictive Control. IFAC Symposium Robust Control Design ROCOND00, Prague, Czech Republic, June 21-23. CD-ROM Proceedings, EUR-7.PDF, 2000.

In this article a general framework for stable predictive controllers is derived. The basis for the unification are closed-loop poles. It is shown that many existing stabilising predictive controllers can be obtained for particular settings. Several kinds of the quadratic cost function can be minimised. It is shown that for a special cost function it is possible to construct a predictive controller with the following features: (i) it produces the same control actions as a given known controller in the unconstrained case, (ii) it introduces a new degrees of freedom that can be used for constraints handling.