Before revision:  The new stability condition and the derived MPCS overcome the difficulties arising in the existing terminal weight based MPC framework, including the need of searching a suitable terminal weight , possible poor performance caused by an inappropriate terminal weight and not being horizon dependent .
After revision:  The new stability condition and the derived MPCS overcome the difficulties arising in the existing terminal weight based MPC framework, including the need of searching a suitable terminal weight and possible poor performance caused by an inappropriate terminal weight and not being horizon dependent .