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GRAMPC
A gradient-based augmented Lagrangian framework for embedded NMPC
...The basic structure and usage of GRAMPC are described in the documentation that comes along with the source files. More details about the algorithm and its performance can be found in the corresponding article published in Optimization and Engeneering. The article is available online under open access at: https://doi.org/10.1007/s11081-018-9417-2. Please cite the paper when you are using results obtained with GRAMPC.
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