# Contract-based Predictive Control for Modularity in Hierarchical Systems

> Research article (IFAC-PapersOnLine, 2018) · cited 11× · AI/ML

**Wikidata**: [openalex:W2900946396](https://www.wikidata.org/wiki/openalex:W2900946396)  
**Source**: https://4ort.xyz/entity/contract-based-predictive-control-for-modularity-in-hierarchical-systems