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Discrete-Time Nonlinear Optimal Control Using Multi-Step Re..:

An, Ningbo ; Wang, Qishao ; Zhao, Xiaochuan.
IEEE Transactions on Circuits and Systems II: Express Briefs.  71 (2024)  4 - p. 2279-2283 , 2024
Link: https://doi.org/10.1109/tcsii.2023.3343375