Fault-tolerant control of a ship propulsion system using model predictive control. - Eric C. Kerrigan; Jan M. Maciejowski (ECC, 1999)

Multi-objective prioritisation and reconfiguration for the control of constrained hybrid systems. - Eric C. Kerrigan; Alberto Bemporad; Domenico Mignone; Manfred Morari; Jan M. Maciejowski (ACC, 2000)

Invariant sets for constrained nonlinear discrete-time systems with application to feasibility in model predictive control. - Eric C. Kerrigan; Jan M. Maciejowski (CDC, 2000)

Robust feasibility in model predictive control: necessary and sufficient conditions. - Eric C. Kerrigan; Jan M. Maciejowski (CDC, 2001)

Optimal control of constrained, piecewise affine systems with bounded disturbances. - Eric C. Kerrigan; David Q. Mayne (CDC, 2002)

Robustly stable feedback min-max model predictive control. - Eric C. Kerrigan; Jan M. Maciejowski (ACC, 2003)

Offset-free control of constrained linear discrete-time systems subject to persistent unmeasured disturbances. - Gabriele Pannocchia; Eric C. Kerrigan (CDC, 2003)

Approximation of the minimal robustly positively invariant set for discrete-time LTI systems with persistent state disturbances. - Sasa V. Rakovic; Eric C. Kerrigan; Konstantinos I. Kouramas; David Q. Mayne (CDC, 2003)

Reachability computations for constrained discrete-time systems with state-and input-dependent disturbances. - Sasa V. Rakovic; Eric C. Kerrigan; David Q. Mayne (CDC, 2003)

On robust optimization and the optimal control of constrained linear systems with bounded state disturbances. - Eric C. Kerrigan; Jan M. Maciejowski (ECC, 2003)

A convex parameterization for solving constrained min-max problems with a quadratic cost. - Eric C. Kerrigan; Teodoro Alamo (ACC, 2004)

Properties of a new parameterization for the control of constrained systems with disturbances. - Eric C. Kerrigan; Jan M. Maciejowski (ACC, 2004)

Move blocking strategies in receding horizon control. - Raphael Cagienard; Pascal Grieder; Eric C. Kerrigan; Manfred Morari (CDC, 2004)

State Feedback Policies for Robust Receding Horizon Control: Uniqueness, Continuity, and Stability. - Paul J. Goulart; Eric C. Kerrigan; Jan M. Maciejowski (CDC/ECC, 2005)

On the Minimal Robust Positively Invariant Set for Linear Difference Inclusions. - Konstantinos I. Kouramas; Sasa V. Rakovic; Eric C. Kerrigan; John C. Allwright; David Q. Mayne (CDC/ECC, 2005)

Invariant approximations of the minimal robust positively Invariant set. - Sasa V. Rakovic; Eric C. Kerrigan; Konstantinos I. Kouramas; David Q. Mayne (IEEE Trans. Autom. Control., 2005)

A convex formulation for receding horizon control of constrained discrete-time systems with guaranteed l2 gain. - Paul J. Goulart; Eric C. Kerrigan (CDC, 2006)

A Method for Robust Receding Horizon Output Feedback Control of Constrained Systems. - Paul J. Goulart; Eric C. Kerrigan (CDC, 2006)

Worst-case optimal control of uncertain max-plus-linear systems. - Ion Necoara; Eric C. Kerrigan; Bart De Schutter; Ton J. J. van den Boom (CDC, 2006)

Optimization over state feedback policies for robust control with constraints. - Paul J. Goulart; Eric C. Kerrigan; Jan M. Maciejowski (Autom., 2006)

Characterization of the solution to a constrained Hinfinity optimal control problem. - David Q. Mayne; Sasa V. Rakovic; Richard B. Vinter; Eric C. Kerrigan (Autom., 2006)

On the facet-to-facet property of solutions to convex parametric quadratic programs. - Jørgen Spjøtvold; Eric C. Kerrigan; Colin N. Jones; Petter Tøndel; Tor Arne Johansen (Autom., 2006)

Reachability analysis of discrete-time systems with disturbances. - Sasa V. Rakovic; Eric C. Kerrigan; David Q. Mayne; John Lygeros (IEEE Trans. Autom. Control., 2006)

Lexicographic perturbation for multiparametric linear programming with applications to control. - Colin N. Jones; Eric C. Kerrigan; Jan M. Maciejowski (Autom., 2007)

Optimized robust control invariance for linear discrete-time systems: Theoretical foundations. - Sasa V. Rakovic; Eric C. Kerrigan; David Q. Mayne; Konstantinos I. Kouramas (Autom., 2007)

Output feedback receding horizon control of constrained systems. - Paul J. Goulart; Eric C. Kerrigan (Int. J. Control, 2007)

Finite-Horizon Min-Max Control of Max-Plus-Linear Systems. - Ion Necoara; Eric C. Kerrigan; Bart De Schutter; Ton J. J. van den Boom (IEEE Trans. Autom. Control., 2007)

A floating-point solver for band structured linear equations. - Antonio Roldao Lopes; George A. Constantinides; Eric C. Kerrigan (FPT, 2008)

Input-to-state stability of robust receding horizon control with an expected value cost. - Paul J. Goulart; Eric C. Kerrigan (Autom., 2008)

Efficient robust optimization for robust control with constraints. - Paul J. Goulart; Eric C. Kerrigan; Daniel Ralph (Math. Program., 2008)

Optimization-based feedback control of mixing in a stokes fluid flow. - Ian J. Couchman; Eric C. Kerrigan; J. C. Vassilicos (ECC, 2009)

A modeling and filtering framework for the semi-discretised Navier-Stokes equations. - Bryn Ll. Jones; Eric C. Kerrigan; Jonathan F. Morrison (ECC, 2009)

More Flops or More Precision? Accuracy Parameterizable Linear Equation Solvers for Model Predictive Control. - Antonio Roldao Lopes; Amir Shahzad; George A. Constantinides; Eric C. Kerrigan (FCCM, 2009)

Control of Constrained Discrete-Time Systems With Bounded 2 Gain. - Paul J. Goulart; Eric C. Kerrigan; Teodoro Alamo (IEEE Trans. Autom. Control., 2009)

Preconditioners for inexact interior point methods for predictive control. - Amir Shahzad; Eric C. Kerrigan; George A. Constantinides (ACC, 2010)

Feedback solution to a bilinear fluid mixing control problem. - Ian J. Couchman; Eric C. Kerrigan (CDC, 2010)

An ISS and l-stability approach to forward error analysis of iterative numerical algorithms. - Ammar Hasan; Eric C. Kerrigan; George A. Constantinides (CDC, 2010)

A fast well-conditioned interior point method for predictive control. - Amir Shahzad; Eric C. Kerrigan; George A. Constantinides (CDC, 2010)

FPGA implementation of an interior point solver for linear model predictive control. - Juan Luis Jerez; George A. Constantinides; Eric C. Kerrigan (FPT, 2010)

When is the discretization of a spatially distributed system good enough for control? - Bryn Ll. Jones; Eric C. Kerrigan (Autom., 2010)

Robust Nonlinear Model Predictive Control of a Run-of-Mine Ore Milling Circuit. - Loutjie C. Coetzee; Ian K. Craig; Eric C. Kerrigan (IEEE Trans. Control. Syst. Technol., 2010)

Semidefinite relaxation of a robust static attitude determination problem. - Shakil Ahmed; Eric C. Kerrigan; Imad M. Jaimoukha (CDC/ECC, 2011)

Solving a positive definite system of linear equations via the matrix exponential. - Ammar Hasan; Eric C. Kerrigan; George A. Constantinides (CDC/ECC, 2011)

A condensed and sparse QP formulation for predictive control. - Juan Luis Jerez; Eric C. Kerrigan; George A. Constantinides (CDC/ECC, 2011)

Parallel move blocking Model Predictive Control. - Stefano Longo; Eric C. Kerrigan; Keck Voon Ling; George A. Constantinides (CDC/ECC, 2011)

Solving constrained LQR problems by eliminating the inputs from the QP. - Giulio M. Mancuso; Eric C. Kerrigan (CDC/ECC, 2011)

An FPGA implementation of a sparse quadratic programming solver for constrained predictive control. - Juan Luis Jerez; George A. Constantinides; Eric C. Kerrigan (FPGA, 2011)

A parallel formulation for predictive control with nonuniform hold constraints. - Stefano Longo; Eric C. Kerrigan; Keck Voon Ling; George A. Constantinides (Annu. Rev. Control., 2011)

Model reduction of homogeneous-in-the-state bilinear systems with input constraints. - Ian J. Couchman; Eric C. Kerrigan; Christoph Böhm 002 (Autom., 2011)

An efficient algorithm for the solution of a coupled Sylvester equation appearing in descriptor systems. - Amir Shahzad; Bryn Ll. Jones; Eric C. Kerrigan; George A. Constantinides (Autom., 2011)

Flow estimation of boundary layers using DNS-based wall shear information. - Bryn Ll. Jones; Eric C. Kerrigan; Jonathan F. Morrison; Tamer A. Zaki (Int. J. Control, 2011)

Optimal active control of a wave energy converter. - Edo Abraham; Eric C. Kerrigan (CDC, 2012)

Towards a fixed point QP solver for predictive control. - Juan Luis Jerez; George A. Constantinides; Eric C. Kerrigan (CDC, 2012)

Fixed Point Lanczos: Sustaining TFLOP-equivalent Performance in FPGAs for Scientific Computing. - Juan Luis Jerez; George A. Constantinides; Eric C. Kerrigan (FCCM, 2012)

A sparse and condensed QP formulation for predictive control of LTI systems. - Juan Luis Jerez; Eric C. Kerrigan; George A. Constantinides (Autom., 2012)

A Stable and Efficient Method for Solving a Convex Quadratic Program with Application to Optimal Control. - Amir Shahzad; Eric C. Kerrigan; George A. Constantinides (SIAM J. Optim., 2012)

A Semidefinite Relaxation-Based Algorithm for Robust Attitude Estimation. - Shakil Ahmed; Eric C. Kerrigan; Imad M. Jaimoukha (IEEE Trans. Signal Process., 2012)

Estimator design for input-constrained bilinear systems with application to wave energy conversion. - Edo Abraham; Eric C. Kerrigan (CDC, 2013)

Latching control of wave energy converters using derivative-free optimization. - Zhe Feng; Eric C. Kerrigan (CDC, 2013)

Embedded Predictive Control on an FPGA using the Fast Gradient Method. - Juan Luis Jerez; Paul J. Goulart; Stefan Richter 005; George A. Constantinides; Eric C. Kerrigan; Manfred Morari (ECC, 2013)

Nonlinear predictive control of autonomous soaring UAVs using 3DOF models. - Yuyi Liu; Stefano Longo; Eric C. Kerrigan (ECC, 2013)

A predictive control solver for low-precision data representation. - Stefano Longo; Eric C. Kerrigan; George A. Constantinides (ECC, 2013)

Energy-aware MPC co-design for DC-DC converters. - Andrea Suardi; Stefano Longo; Eric C. Kerrigan; George A. Constantinides (ECC, 2013)

Control-Theoretic Forward Error Analysis of Iterative Numerical Algorithms. - Ammar Hasan; Eric C. Kerrigan; George A. Constantinides (IEEE Trans. Autom. Control., 2013)

Constrained LQR for low-precision data representation. - Stefano Longo; Eric C. Kerrigan; George A. Constantinides (Autom., 2014)

Embedded Online Optimization for Model Predictive Control at Megahertz Rates. - Juan Luis Jerez; Paul J. Goulart; Stefan Richter 005; George A. Constantinides; Eric C. Kerrigan; Manfred Morari (IEEE Trans. Autom. Control., 2014)

Predictive Control Using an FPGA With Application to Aircraft Control. - Edward Nicholas Hartley; Juan Luis Jerez; Andrea Suardi; Jan M. Maciejowski; Eric C. Kerrigan; George A. Constantinides (IEEE Trans. Control. Syst. Technol., 2014)

Smoothness properties of the MPC value function with respect to sampling time and prediction horizon. - Vincent Bachtiar; Eric C. Kerrigan; William H. Moase; Chris Manzie (ASCC, 2015)

Computer architectures to close the loop in real-time optimization. - Eric C. Kerrigan; George A. Constantinides; Andrea Suardi; Andrea Picciau; Bulat Khusainov (CDC, 2015)

Fast FPGA prototyping toolbox for embedded optimization. - Andrea Suardi; Eric C. Kerrigan; George A. Constantinides (ECC, 2015)

Feedback and Time are Essential for the Optimal Control of Computing Systems. - Eric C. Kerrigan (CoRR, 2015)

Energy-Efficient Scheduling for Homogeneous Multiprocessor Systems. - Mason Thammawichai; Eric C. Kerrigan (CoRR, 2015)

UAV energy extraction with incomplete atmospheric data using MPC. - Yuyi Liu; Jos van Schijndel; Stefano Longo; Eric C. Kerrigan (IEEE Trans. Aerosp. Electron. Syst., 2015)

A Low Complexity Scaling Method for the Lanczos Kernel in Fixed-Point Arithmetic. - Juan Luis Jerez; George A. Constantinides; Eric C. Kerrigan (IEEE Trans. Computers, 2015)

Lower-Order H∞ Filter Design for Bilinear Systems With Bounded Inputs. - Edo Abraham; Eric C. Kerrigan (IEEE Trans. Signal Process., 2015)

A scalable QP solver for optimal control of cascades with constraints. - Michael Cantoni; Farhad Farokhi; Eric C. Kerrigan; Iman Shames (AuCC, 2016)

Relations between full information and Kalman-based estimation. - Ming Ge; Eric C. Kerrigan (CDC, 2016)

Feedback scheduling for energy-efficient real-time homogeneous multiprocessor systems. - Mason Thammawichai; Eric C. Kerrigan (CDC, 2016)

What is different about embedded optimization? - Eric C. Kerrigan; Bulat Khusainov; George A. Constantinides (ECC, 2016)

Multi-objective Co-design for model predictive control with an FPGA. - Bulat Khusainov; Eric C. Kerrigan; George A. Constantinides (ECC, 2016)

Balancing Locality and Concurrency: Solving Sparse Triangular Systems on GPUs. - Andrea Picciau; Gordon E. Inggs; John Wickerson; Eric C. Kerrigan; George A. Constantinides (HiPC, 2016)

Continuity and monotonicity of the MPC value function with respect to sampling time and prediction horizon. - Vincent Bachtiar; Eric C. Kerrigan; William H. Moase; Chris Manzie (Autom., 2016)

Joint optimization of transmission and propulsion in aerial communication networks. - Omar J. Faqir; Eric C. Kerrigan; Deniz Gündüz (CDC, 2017)

Noise covariance identification for nonlinear systems using expectation maximization and moving horizon estimation. - Ming Ge; Eric C. Kerrigan (Autom., 2017)

Scalable computation for optimal control of cascade systems with constraints. - Michael Cantoni; Farhad Farokhi; Eric C. Kerrigan; Iman Shames (CoRR, 2017)

Nonlinear Predictive Control on a Heterogeneous Computing Platform. - Bulat Khusainov; Eric C. Kerrigan; Andrea Suardi; George A. Constantinides (CoRR, 2017)

Automatic Software and Computing Hardware Co-design for Predictive Control. - Bulat Khusainov; Eric C. Kerrigan; George A. Constantinides (CoRR, 2017)

Noise covariance identification for time-varying and nonlinear systems. - Ming Ge; Eric C. Kerrigan (Int. J. Control, 2017)

Dynamic Optimization with Convergence Guarantees. - Martin P. Neuenhofen; Eric C. Kerrigan (CoRR, 2018)

Energy-efficient real-time scheduling for two-type heterogeneous multiprocessors. - Mason Thammawichai; Eric C. Kerrigan (Real Time Syst., 2018)

Optimizing Communication and Computation for Multi-UAV Information Gathering Applications. - Mason Thammawichai; Sujit P. Baliyarasimhuni; Eric C. Kerrigan; João Borges de Sousa (IEEE Trans. Aerosp. Electron. Syst., 2018)

Modeling Round-off Error in the Fast Gradient Method for Predictive Control. - Ian McInerney; Eric C. Kerrigan; George A. Constantinides (CDC, 2019)

Bounding Computational Complexity under Cost Function Scaling in Predictive Control. - Ian McInerney; Eric C. Kerrigan; George A. Constantinides (CoRR, 2019)

External Constraint Handling for Solving Optimal Control Problems with Interior Point Methods. - Yuanbo Nie; Eric C. Kerrigan (CoRR, 2019)

Joint Optimization of Transmission and Propulsion in UAV-Assisted Communication Networks. - Omar J. Faqir; Eric C. Kerrigan; Deniz Gündüz; Yuanbo Nie (CoRR, 2019)

Automatic Software and Computing Hardware Codesign for Predictive Control. - Bulat Khusainov; Eric C. Kerrigan; George A. Constantinides (IEEE Trans. Control. Syst. Technol., 2019)

Optimal Communication Scheduling in the Smart Grid. - Luxin Zhang; Eric C. Kerrigan; Bikash C. Pal (IEEE Trans. Ind. Informatics, 2019)

Direct Transcription for Dynamic Optimization: A Tutorial with a Case Study on Dual-Patient Ventilation During the COVID-19 Pandemic. - Eric C. Kerrigan; Yuanbo Nie; Omar J. Faqir; Caroline H. Kennedy; Steven A. Niederer; José Alonso Solís-Lemus; Peter Vincent; Steven E. Williams (CDC, 2020)

An Integral Penalty-Barrier Direct Transcription Method for Optimal Control. - Martin P. Neuenhofen; Eric C. Kerrigan (CDC, 2020)

A Direct Method for Solving Integral Penalty Transcriptions of Optimal Control Problems. - Martin P. Neuenhofen; Eric C. Kerrigan (CDC, 2020)

Optimal partitioning of multi-thermal zone buildings for decentralized control. - Ercan Atam; Eric C. Kerrigan (CoRR, 2020)

External Constraint Handling for Solving Optimal Control Problems With Simultaneous Approaches and Interior Point Methods. - Yuanbo Nie; Eric C. Kerrigan (IEEE Control. Syst. Lett., 2020)

Efficient and More Accurate Representation of Solution Trajectories in Numerical Optimal Control. - Yuanbo Nie; Eric C. Kerrigan (IEEE Control. Syst. Lett., 2020)

Information Transmission Bounds Between Moving Terminals. - Omar J. Faqir; Eric C. Kerrigan; Deniz Gündüz (IEEE Commun. Lett., 2020)

Structured computation of optimal controls for constrained cascade systems. - Michael Cantoni; Farhad Farokhi; Eric C. Kerrigan; Iman Shames (Int. J. Control, 2020)

A hybrid green energy-based framework with a multi-objective optimization approach for optimal frost prevention in horticulture. - Ercan Atam; Tamer F. Abdelmaguid; Muhammed Emre Keskin; Eric C. Kerrigan (CoRR, 2021)

Towards a Framework for Nonlinear Predictive Control using Derivative-Free Optimization. - Ian McInerney; Lucian Nita; Yuanbo Nie; Alberto Oliveri; Eric C. Kerrigan (CoRR, 2021)

Data-driven predictive control with reduced computational effort and improved performance using segmented trajectories. - Edward O'Dwyer; Eric C. Kerrigan; Paola Falugi; Marta A. Zagorowska; Nilay Shah (CoRR, 2021)

Efficient Implementation of Rate Constraints for Nonlinear Optimal Control. - Yuanbo Nie; Eric C. Kerrigan (IEEE Trans. Autom. Control., 2021)

Optimal Partitioning of Multithermal Zone Buildings for Decentralized Control. - Ercan Atam; Eric C. Kerrigan (IEEE Trans. Control. Netw. Syst., 2021)

Solving optimal control problems with non-smooth solutions using an integrated residual method and flexible mesh. - Lucian Nita; Eric C. Kerrigan; Eduardo M. G. Vila; Yuanbo Nie (CDC, 2022)

Fast and accurate method for computing non-smooth solutions to constrained control problems. - Lucian Nita; Eduardo M. G. Vila; Marta A. Zagorowska; Eric C. Kerrigan; Yuanbo Nie; Ian McInerney; Paola Falugi (ECC, 2022)

High-level Synthesis using the Julia Language. - Benjamin Biggs; Ian McInerney; Eric C. Kerrigan; George A. Constantinides (CoRR, 2022)

Teaching Predictive Control Using Specification-based Summative Assessments. - Ian McInerney; Eric C. Kerrigan (CoRR, 2022)

Efficient solution of robust optimal control problems using local reduction. - Marta A. Zagorowska; Paola Falugi; Edward O'Dwyer; Eric C. Kerrigan (CoRR, 2022)

Numerical Comparison of Collocation vs Quadrature Penalty Methods. - Martin P. Neuenhofen; Eric C. Kerrigan; Yuanbo Nie (CDC, 2023)

Automatic scenario generation for efficient solution of robust optimal control problems. - Marta A. Zagorowska; Paola Falugi; Edward O'Dwyer; Eric C. Kerrigan (CoRR, 2023)

Horizon-Independent Preconditioner Design for Linear Predictive Control. - Ian McInerney; Eric C. Kerrigan; George A. Constantinides (IEEE Trans. Autom. Control., 2023)

Solving Problems With Inconsistent Constraints With a Modified Augmented Lagrangian Method. - Martin P. Neuenhofen; Eric C. Kerrigan (IEEE Trans. Autom. Control., 2023)

Solving Dynamic Optimization Problems to a Specified Accuracy: An Alternating Approach Using Integrated Residuals. - Yuanbo Nie; Eric C. Kerrigan (IEEE Trans. Autom. Control., 2023)

Data-Driven Predictive Control With Improved Performance Using Segmented Trajectories. - Edward O'Dwyer; Eric C. Kerrigan; Paola Falugi; Marta A. Zagorowska; Nilay Shah (IEEE Trans. Control. Syst. Technol., 2023)

Inaccuracy Matters: Accounting for Solution Accuracy in Event-Triggered Nonlinear Model Predictive Control. - Omar J. Faqir; Eric C. Kerrigan (IEEE Trans. Autom. Control., 2023)

An efficient method for maximal area coverage in the context of a hierarchical controller for multiple unmanned aerial vehicles. - Logan Sritharan; Lucian Nita; Eric C. Kerrigan (Eur. J. Control, 2023)

Co-Design of a Controller and Its Digital Implementation: The MOBY-DIC2 Toolbox for Embedded Model Predictive Control. - Alessandro Ravera; Alberto Oliveri; Matteo Lodi; Alberto Bemporad; W. P. M. H. Heemels; Eric C. Kerrigan; Marco Storace (IEEE Trans. Control. Syst. Technol., 2023)

Robust Output Feedback of Nonlinear Systems through the Efficient Solution of Min-Max Optimization Problems. - Jad Wehbeh; Eric C. Kerrigan (CDC, 2024)

Tracking-in-range Formulations for Numerical Optimal Control. - Nikilesh Ramesh; Eric C. Kerrigan; Yuanbo Nie (CoRR, 2024)

Tightly Bounded Polynomials via Flexible Discretizations for Dynamic Optimization Problems. - Eduardo M. G. Vila; Eric C. Kerrigan (CoRR, 2024)

Mesh Refinement with Early Termination for Dynamic Feasibility Problems. - Eduardo M. G. Vila; Eric C. Kerrigan; Paul Bruce (CoRR, 2024)

Semi-Infinite Programs for Robust Control and Optimization: Efficient Solutions and Extensions to Existence Constraints. - Jad Wehbeh; Eric C. Kerrigan (CoRR, 2024)

Robust co-design framework for buildings operated by predictive control. - Paola Falugi; Edward O'Dwyer; Marta A. Zagorowska; Eric C. Kerrigan; Yuanbo Nie; Goran Strbac; Nilay Shah (CoRR, 2024)

Accurate Solutions to Optimal Control Problems via a Flexible Mesh and Integrated Residual Transcription. - Lucian Nita; Eric C. Kerrigan (CoRR, 2024)

State-Dependent Uncertainty Modeling in Robust Optimal Control through Generalized Semi-Infinite Programming. - Jad Wehbeh; Eric C. Kerrigan (MED, 2025)

Reliable Solution to Dynamic Optimization Problems Using Integrated Residual Regularized Direct Collocation. - Yuanbo Nie; Eric C. Kerrigan (IEEE Control. Syst. Lett., 2025)

Update-Aware Robust Optimal Model Predictive Control for Nonlinear Systems. - Jad Wehbeh; Eric C. Kerrigan (IEEE Control. Syst. Lett., 2025)

Smooth Logic Constraints in Nonlinear Optimization and Optimal Control Problems. - Jad Wehbeh; Eric C. Kerrigan (CoRR, 2025)

A Robust Predictive Control Method for Pump Scheduling in Water Distribution Networks. - Mirhan Ürkmez; Carsten Skovmose Kallesøe; Jan Dimon Bendtsen; Eric C. Kerrigan; John Leth (CoRR, 2025)