# A penalty function approach to constrained Pontryagin-based Nonlinear Model Predictive Control

> Research article (2022 IEEE 61st Conference on Decision and Control (CDC), 2022) · cited 10× · AI/ML

**Wikidata**: [openalex:W4315472055](https://www.wikidata.org/wiki/openalex:W4315472055)  
**Source**: https://4ort.xyz/entity/a-penalty-function-approach-to-constrained-pontryagin-based-nonlinear-model-predictive-control