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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…
math.OC2026
On the Practical Implementation of a Sequential Quadratic Programming Algorithm for Nonconvex Sum-of-squares Problems
Jan Olucak, Torbjørn Cunis
Sum-of-squares (SOS) optimization provides a computationally tractable framework for certifying polynomial nonnegativity. If the considered problem is convex, the SOS problem can b…