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Jadbabaie, Ali and Yu, Jie and Hauser, John (2001) Unconstrained receding-horizon control of nonlinear systems. IEEE Transactions on Automatic Control, 46 (5). pp. 776-783. ISSN 0018-9286. doi:10.1109/9.920800. https://resolver.caltech.edu/CaltechAUTHORS:JADieeetac01

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