CHEN, W-H. and GAWTHROP, P. J., 2006. Constrained predictive pole placement control with linear models. Automatica, 42 (4), pp. 613-618
Predictive Pole-Placement (PPP) control is a continuous-time MPC using a particular set of basis functions leading to pole-placment
behaviour in the unconstained case. This paper presents two modified versions of the PPP controller which are each shown to have
desirable stability properties when controlling systems with input, output and state constraints.