%N 8
%V 62
%A Sebastien Gros
%A Mario Zanon
%D 2017
%I IEEE
%L eprints4002
%P 3848-3860
%J IEEE Transactions on Automatic Control
%R doi:10.1109/TAC.2017.2649043
%T Penalty Functions for Handling Large Deviation of Quadrature States in NMPC