Techniques for Uniting Lyapunov-Based and Model Predictive Control

This paper presents a review of recent contributions that unite predictive control approaches with Lyapunov-based control approaches at the implementation level (Hybrid predictive control) and at the design level (Lyapunov-based predictive control) in a way that allows for an explicit characterization of the set of initial conditions starting from where closed-loop stability is guaranteed in the presence of constraints.