Reviewers 1-3 were enthusiastic about the technical results in this paper and are in favor of accepting. While reviewer 4 was less enthusiastic, they did not defend their position during discussion. All of the reviewers felt that the paper can be improved substantially by including more / better comparison with the broader literature on MPC. Based on the rebuttal, it sounds like the authors are taking steps towards doing this, and this should be included in the final version of the paper.