Stability of Observer Based Predictive Control for Nonlinear   Sampled-data Systems
  We propose a new model predictive control (MPC) approach which is completely based on an observer for the state system. For this, we show semiglobally practically asymptotic stability of the closed loop for an abstract observer and illustrate our results for a numerical example. 
J\"urgen Pannek and Marcus von Lossow
math.OC cs.SY math.FA