Funnel PMC with feasibility constraints for nonlinear systems with arbitrary relative degree
T. Berger, D. Dennstädt, IEEE Control  Systems Letters 6 (2022) 2804–2809.

Funnel MPC for nonlinear systems with relative degree one
T. Berger, D. Dennstädt, A. Ilchmann, K. Worthmann, SIAM Journal on Control and Optimization 60 (2022) 3358–3383.