Model predictive control : theory, computation, and design / James B. Rawlings (Department of Chemical Engineering, University of California, Santa Barbara, California, USA), David Q. Mayne (Department of Electrical and Electronic Engineering, Imperial College London, London, England), Moritz M. Diehl (Department of Microsystems Engineering and Department of Mathematics, University of Freiburg, Freiburg, Germany)
"Graduate-level chemical engineering textbook providing a comprehensive and foundational treatment of theory, computation, and design of model predictive control"--
