Towards dual robust nonlinear model predictive control: A multi-stage approach. - Sakthi Thangavel; Sergio Lucia; Radoslav Paulen; Sebastian Engell (ACC, 2015)

Robust Multi-stage NMPC under Structural Plant-model Mismatch Without Full-State Measurements. - Sakthi Thangavel; Sankaranarayan Subramanian; Radoslav Paulen; Sebastian Engell (ECC, 2019)

Adaptive multi-stage NMPC using sigma point principles. - Sakthi Thangavel; Radoslav Paulen; Sebastian Engell (ECC, 2020)