Tracking MPC

Hi guys and happy new year everyone,

I'm currently taking a deeper dive into the world of MPC. I've learned and understood what Quasi-Infinite Horizon MPC is, but in my understanding the basic version of Chen and Allgöwer is used to asymptotically stabilize the origin. I'm interested in steering the system to a constant reference value r. There are a lot of different MPC formulations out there, all doing advanced stuff like tracking time-dependent references or including disturbances. Can someone provide the QIH scheme for tracking a simple constant reference value for the nominal case? My guess is it would include introducing the error dynamics in the cost functions.

Thanks in advance