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eess.SY2026★ 17 cited
MPC for nonlinear systems: a comparative review of discretization methods
Guido Sanchez, Marina Murillo, Lucas Genzelis +2
This work provides a comparative review of three different numerical methods generally used to discretize continuous-time non-linear equations appearing in model predictive control…
eess.SY2026★ 31 cited
Adaptive arrival cost update for improving Moving Horizon Estimation performance
Guido Sanchez, Marina Murillo, Leonardo Giovanini
Moving horizon estimation is an efficient technique to estimate states and parameters of constrained dynamical systems. It relies on the solution of a finite horizon optimization p…