Gianluca Frison, Dimitris Kouzoupis, John Bagterp Jørgensen, Moritz Diehl. An efficient implementation of partial condensing for Nonlinear Model Predictive Control. In 55th IEEE Conference on Decision and Control, CDC 2016, Las Vegas, NV, USA, December 12-14, 2016. pages 4457-4462, IEEE, 2016. [doi]
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