Stochastic economic model predictive control for Markovian switching   systems
  The optimization of process economics within the model predictive control (MPC) formulation has given rise to a new control paradigm known as economic MPC (EMPC). Several authors have discussed the closed-loop properties of EMPC-controlled deterministic systems, however, little have uncertain systems been studied. In this paper we propose EMPC formulations for nonlinear Markovian switching systems which guarantee recursive feasibility, asymptotic performance bounds and constrained mean square (MS) stability. 
Pantelis Sopasakis and Domagoj Herceg and Panagiotis Patrinos and   Alberto Bemporad
math.OC