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). Santa Barbara, California : Nob Hill Publishing, LLC, [2020]