Simulation studies on online constraint removal with a Lyapunov function
  We apply a recently proposed method for the acceleration of model predictive control (MPC) to 36 MPC implementations, which result from combining six sample receding horizon control problems with six quadratic programming solvers. We implement each of the 36 system-solver-combinations both with and without constraint removal and compare computational times for statistically relevant numbers of runs. 
Michael Jost, Gabriele Pannocchia, Martin M\"onnigmann
math.OC