Efficient infeasibility handling in linear MPC subject to prioritized constraints. - Jostein Vada; Olav Slupphaug; Tor Arne Johansen (ECC, 1999)

Linear MPC with optimal prioritized infeasibility handling: application, computational issues and stability. - Jostein Vada; Olav Slupphaug; Tor Arne Johansen; Bjarne A. Foss (Autom., 2001)