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Raković, Saša V, Levine, William S, Açıkmeşe, Behçet.  2016.  Elastic tube model predictive control. American Control Conference (ACC), 2016. :3594–3599.
Raković, Saša V, Levine, William S, Açıkmeşe, Behçet.  2016.  Discretely generalized model predictive control. American Control Conference (ACC), 2016. :26–31.