MENON, G. S.; T, V.; J, L. .; S, K. . Soft Constrained Warm Start based MPC-PD Approach for Real Time Control of Underactuated Systems. IEEE Latin America Transactions, [S. l.], v. 23, n. 9, p. 762–769, 2025. Disponível em: https://latamt.ieeer9.org/index.php/transactions/article/view/9660. Acesso em: 14 may. 2026.