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Nonlinear programming formulations for nonlinear and economic model predictive control

Yu, M., Griffith, D. W., & Biegler, L. T. (2019). Nonlinear programming formulations for nonlinear and economic model predictive control. In Raković, S., Levine, W. (Eds.) Handbook of Model Predictive Control. Control Engineering. Birkhäuser, Cham. https://doi.org/10.1007/978-3-319-77489-3_20