Embedded online optimization for model predictive control at megahertz rates. Jerez, J. L, Goulart, P. J, Richter, S., Constantinides, G. A, Kerrigan, E. C, & Morari, M. IEEE Transactions on Automatic Control, 59(12):3238--3251, IEEE, 2014.
bibtex   
@ARTICLE{jerez2014embedded,
  author = {Jerez, Juan L and Goulart, Paul J and Richter, Stefan and Constantinides,
	George A and Kerrigan, Eric C and Morari, Manfred},
  title = {Embedded online optimization for model predictive control at megahertz
	rates},
  journal = {IEEE Transactions on Automatic Control},
  year = {2014},
  volume = {59},
  pages = {3238--3251},
  number = {12},
  publisher = {IEEE}
}

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