This paper introduces a new variant of model predictive control called Reduced Parameterisation Model Predictive Control. The new algorithm uses the structure of the null controllable set of input constrained unstable systems to produce a closed-loop system with a region of attraction that is an arbitrarily close approximation to this set. In addition, this result is achieved with a lower complexity than that of MPC.
European Control Conference 2009 (ECC'09). ECC'09: European Control Conference 2009 Proceedings (Budapest, Hungary 23-26 August, 2009) p. 713-718