Fikar, M., Morari, M., Mikleš, J.: On Youla-Kuèera parametrisation approach to predictive control. ECC’99, Karlsruhe, CD-ROM Proceedings, F163, 1999.

Constrained predictive controller that is based on Youla-Kuèera (YK) parametrisation of all stabilising controllers is discussed. The optimised variables are not future control increments as usual but directly parameters of the controller. Both finite and infinite horizon formulations are handled.