Geodesic
A computationally efficient stable dual-mode type nonlinear predictive control algorithm
Control and Cybernetics, Tome 37 (2008) no. 1, pp. 99-132 
Ławryńczuk, Maciej; Tadej, Wojciech. A computationally efficient stable dual-mode type nonlinear predictive control algorithm. Control and Cybernetics, Tome 37 (2008) no. 1, pp. 99-132. http://geodesic.mathdoc.fr/item/CC_2008_37_1_a5/
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     author = {{\L}awry\'nczuk, Maciej and Tadej, Wojciech},
     title = {A computationally efficient stable dual-mode type nonlinear predictive control algorithm},
     journal = {Control and Cybernetics},
     pages = {99--132},
     year = {2008},
     volume = {37},
     number = {1},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/CC_2008_37_1_a5/}
}
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