Fikar, M., Engell, S., Dostál, P.: Design of Infinite Horizon Predictive LQ Controller. Proceedings ECC'97, Bruxelles, Paper No. 698, 1997.

A singlevariable controller is developed in the predictive control framework based upon minimization of the LQ criterion with infinite output and control horizons. The infinite version of the predictive cost function results in better stability properties of the controller and still enables to incorporate contraints into the control design. The constrained LQ controller (CLQ) consists of two parts: time-invariant nominal LQ controller and time-variant part given by Youla-Ku\v{c}era parametrization of all stabilizing controllers that takes care of constraints.