M. Fikar, H. Unbehauen, Some new results in linear predictive control, Technical Report MF9902, Control Engineering Laboratory, FEE, Ruhr-University Bochum, 1999.

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