@article{article, title  = {{An efficient condensing algorithm for fast closed loop dual-mode nonlinear model predictive control}},

 publisher = {{Wiley}},

 url = {{https://eprints.whiterose.ac.uk/id/eprint/184200 }},

 year = {{2022}},

 month = {{3}},

 author = {{Gonzalez Villarreal OJ and Rossiter J and Tsourdos A}},

 doi = {{10.1049/cth2.12274}},

 volume = {{16}},

 journal = {{IET Control Theory and Applications}},

 issue = {{9}},

 pages = {{872-888}},

 note = {{Accessed on 2025/12/01}}}