?url_ver=Z39.88-2004&rft_id=doi%3A10.1080%2F00207179.2016.1222553&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.aufirst=S%C3%A9bastien&rft.aulast=Gros&rft.au=Gros%2C+S%C3%A9bastien&rft.date=2016&rft.atitle=From+linear+to+nonlinear+MPC%3A+bridging+the+gap+via+the+real-time+iteration&rft.title=International+Journal+of+Control&rft.pages=1-19&rft.issn=0020-7179&rft.genre=article