Ensuring Stability in Networked Systems with Nonlinear MPC for   Continuous Time Systems
  For networked systems, the control law is typically subject to network flaws such as delays and packet dropouts. Hence, the time in between updates of the control law varies unexpectedly. Here, we present a stability theorem for nonlinear model predictive control with varying control horizon in a continuous time setting without stabilizing terminal constraints or costs. It turns out that stability can be concluded under the same conditions as for a (short) fixed control horizon. 
Lars Gr\"une, J\"urgen Pannek, Karl Worthmann
math.OC cs.NI cs.SY