Model Predictive Control

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Acknowledgements
Large part of the material presented in this book is extracted from the work of
the authors Francesco Borrelli, Alberto Bemporad and Manfred Morari. Several
sections have also been extracted from the PhD Theses of Miroslav Baric, Mato
Baotic, Fabio Torrisi, Domenico Mignone, Pascal Grieder, Eric Kerrigan, Tobias
Geyer and Frank J. Christophersen. A special tanks goes to Michal Kvasnica,
Stefan Richter and Thomas Besselmann for their invaluable help on the examples
construction.
Our gratitude also goes to the several people who have careful read preliminary
versions of the book and gave us suggestions on how to improve them. They
include David Mayne, Per Olof Gutman and all the students of our class on Model
Predictive Control (ME290J at UC Berkeley, 227-0221-00 at ETH).
The authors of the book style and macros are Stephen Boyd and Lieven Vandenberghe.
We are extremely grateful to Stephen and Lieven for sharing them with
us.