Fikar, M., Engell, S.: Receding horizon predictive control based upon Youla-Kucera parametrisation. European Journal of Control, 3 (4), 304 - 316, 1997.

A multivariable time varying controller is developed in the predictive control framework based upon the Youla-Ku\v{c}era parametrization. This parametrization of the controller brings insight into closed-loop behaviour and stability can be guaranteed while the optimization is performed, as usually, over a finite horizon. Constraints on inputs and/or outputs can be handled. The results are applied to control of a chemical reactor with consecutive and parallel reaction.