Hybrid NMPC for Switching Systems Applied to a Supermarket Refrigeration System. - Taher Ebrahim; Sankaranarayanan Subramanian; Sebastian Engell (ECC, 2018)

Robust Model Predictive Control for Switched Nonlinear Dynamic Systems. - Taher Ebrahim; Sebastian Engell (ECC, 2021)

Robust tube-based NMPC for dynamic systems with discrete degrees of freedom. - Taher Ebrahim; Sankaranarayanan Subramanian; Sebastian Engell (Autom., 2024)