Fikar, M., Unbehauen, H., Mikles, J.: Using controller knowledge in predictive control. IFAC Conference CSD 2003, September 7-10, Bratislava, Slovakia. CD-ROM Proceedings, Session: G.

The paper discusses possible ways how to incorporate an existing controller into the predictive control framework. This idea is used in anti-windup framework, where the performance can degrade in some cases. The basic requirements are to meet the performance of the nominal controller in the unconstrained case and to guarantee stability in the constrained case.