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The paper discusses multistep nonlinear model-predictive control (NMPC)schemes for the tracking of a car model along a given reference track. Inparticular we will compare the numerical performance and robustness of classicsingle step NMPC, multistep NMPC without re-optimization, multistep NMPC withre-optimization, and multistep NMPC with sensitivity updates instead of a fullre-optimization.

Numerical experiments with multistep model-predictive control approaches and sensitivity updates for the tracking control of cars