Continuity and smoothness properties of nonlinear optimization-based feedback controllers. Morris, B. J; Powell, M. J; and Ames, A. D In Decision and Control (CDC), 2015 IEEE 54th Annual Conference on, pages 151–158, 2015. IEEE.
Continuity and smoothness properties of nonlinear optimization-based feedback controllers [pdf]Paper  bibtex   
@inproceedings{morris2015continuity,
  title={Continuity and smoothness properties of nonlinear optimization-based feedback controllers},
  author={Morris, Benjamin J and Powell, Matthew J and Ames, Aaron D},
  booktitle={Decision and Control (CDC), 2015 IEEE 54th Annual Conference on},
  pages={151--158},
  year={2015},
  organization={IEEE},
  url = {http://ames.caltech.edu/MPA%20-%20CDC15.pdf}
}
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