@article{TUW-188901, author = {Graichen, Knut and Kugi, Andreas}, title = {Stability and Incremental Improvement of Suboptimal MPC Without Terminal Constraints}, journal = {IEEE Transactions on Automatic Control}, year = {2010}, volume = {55}, number = {11}, pages = {2576--2580}, doi = {10.1109/TAC.2010.2057912} }