A comparative review of direct multiple shooting, direct collocation, and successive linearizations for discretizing nonlinear MPC equations, with performance evaluated via simulations on two test cases.
Efficient numerical methods for nonlinear MPC and moving horizon estimation
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MPC for nonlinear systems: a comparative review of discretization methods
A comparative review of direct multiple shooting, direct collocation, and successive linearizations for discretizing nonlinear MPC equations, with performance evaluated via simulations on two test cases.