@article{anexecutiontimecertifiedqpalgorithmfor,
  title = {A Parallel Vector-form $LDL^\top$ Decomposition for Accelerating Execution-time-certified $\ell_1$-penalty Soft-constrained MPC},
  author = {Liang Wu and Liwei Zhou and Richard D. Braatz},
  year = {2024},
  eprint = {2403.18235},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2403.18235v3},
}