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Generalized nonlinear optimal predictive control using iter..:

Murillo, Marina H. ; Limache, Alejandro C. ; Rojas Fredini, Pablo S..
International Journal of Control, Automation and Systems.  13 (2015)  2 - p. 361-370 , 2015
Link: https://doi.org/10.1007/s12555-013-0416-y