There are large number of papers that discuss many different aspects and formulations of MPC. The basic DMC approach is presented by Cutler and Ramaker (1980). An early academic paper analyzing DMC is presented by Marchetti et al. (1983). Garcia et al. (1989) review early theory and applications, while Morari and Lee (1999) summarize recent results and current research topics. The monograph by Camacho (1999) presents a number of techniques but focuses on GPC. The textbook by Maciejowski (2002) includes MATLAB files and a number of application case studies.