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Florian A. Bayer, Florian David Brunner, Mircea Lazar, Marc Wijnand, Frank Allgöwer. A tube-based approach to nonlinear explicit MPC. In 55th IEEE Conference on Decision and Control, CDC 2016, Las Vegas, NV, USA, December 12-14, 2016. pages 4059-4064, IEEE, 2016. [doi]

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