“…Riccati recursions have also been used together with active set methods for solving the optimal control problem, (Arnold and Puta, 1994;Glad and Jonson, 1984). Comparisons between active set methods and IP methods have been done by several authors, (Albuquerque et al, 1997;Biegler, 1997;Wright, 1996). Recently, it has been shown that stability of MPCs can be established less conservatively if the optimization problem considered at each sampling interval is a Quadratically Constrained Quadratic Program (QCQP), (Lee, 2000;Lee and Kouvaritakis, 1999;Scokaert and Rawlings, 1998).…”