Offset-Free Model Predictive Temperature Control for Ultrasound-Based Hyperthermia Cancer Treatments. - Daniel Andreas Deenen; Bert Maljaars; Lukas C. Sebeke; Bram de Jager; Edwin Heijman; Holger Grüll; W. P. Maurice H. Heemels (IEEE Trans. Control. Syst. Technol., 2021)