Fundamentals of economic model predictive control. - James B. Rawlings; David Angeli; Cuyler N. Bates (CDC, 2012)

On the inherent robustness of optimal and suboptimal nonlinear MPC. - Douglas A. Allan; Cuyler N. Bates; Michael J. Risbeck; James B. Rawlings (Syst. Control. Lett., 2017)