# Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions

> Research article (2022 IEEE 61st Conference on Decision and Control (CDC), 2022) · cited 18× · AI/ML

**Wikidata**: [openalex:W4315488704](https://www.wikidata.org/wiki/openalex:W4315488704)  
**Source**: https://4ort.xyz/entity/multi-rate-planning-and-control-of-uncertain-nonlinear-systems-model-predictive-control-and-control-lyapunov-functions