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Lucia, Sergio; Subramanian, Sankaranarayanan; Limon, Daniel; Engell, Sebastian (2020). "Stability properties of multi-stage nonlinear model predictive control". Systems & Control Letters. 143 (9): 104743. doi:10.1016/j.sysconle.2020.104743. S2CID225341650.
Subramanian, Sankaranarayanan; Lucia, Sergio; Paulen, Radoslav; Engell, Sebastian (2021). "Tube-enhanced multi-stage model predictive control for flexible robust control of constrained linear systems". International Journal of Robust and Nonlinear Control. 31 (9): 4458–4487. arXiv:2012.14848. doi:10.1002/rnc.5486. S2CID234354708.
Subramanian, Sankaranarayanan; Abdelsalam, Yehia; Lucia, Sergio; Engell, Sebastian (2022). "Robust Tube-Enhanced Multi-Stage NMPC With Stability Guarantees". IEEE Control Systems Letters. 6: 1112–1117. doi:10.1109/LCSYS.2021.3089502. S2CID235799791.