Constraint-Tightening and Stability in Stochastic Model Predictive Control. IEEE Trans. Automat. Control, (62)7:3165-3177, 2017. [PUMA: control;chance stability;Numerical control;randomized processes;Uncertainty;Stochastic Asymptotic stability;Optimization;Predictive predictive control from:ist_bib horizon constraints;constrained control;discrete-time stochastic control;Robustness;Stochastic model systems;predictive algorithms;receding]