@article{aframeworkforquasitimeoptimalnonlinear,
  title = {A Framework for Quasi Time-Optimal Nonlinear Model Predictive Control with Soft Constraints},
  author = {Joe Ismail and Steven Liu},
  year = {2020},
  eprint = {2005.02994},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2005.02994v3},
}