# Vertical hierarchical MPC for constrained linear systems

> Research article (Automatica, 2020) · cited 22× · AI/ML

**Wikidata**: [openalex:W3000111561](https://www.wikidata.org/wiki/openalex:W3000111561)  
**Source**: https://4ort.xyz/entity/vertical-hierarchical-mpc-for-constrained-linear-systems