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eess.SY2026
Input-to-state Stable Approximate Nonlinear Model Predictive Control with Realtime Feasibility
Jan Olucak, Torbjørn Cunis
In this paper, a computationally lightweight approximate robust nonlinear model predictive control (NMPC) law is proposed based on a pair of input-to-state control Lyapunov functio…
eess.SY2023
Real-time Nonlinear Model Predictive Control using One-step Optimizations and Reachable Sets
Jan Olucak, Walter Fichter, Torbjørn Cunis
Model predictive control allows solving complex control tasks with control and state constraints. However, an optimal control problem must be solved in real-time to predict the fut…