@article{constrainednonlinearoutputregulationusin,
  title = {Constrained nonlinear output regulation using model predictive control -- extended version},
  author = {Johannes Köhler and Matthias A. Müller and Frank Allgöwer},
  year = {2020},
  eprint = {2005.12413},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2005.12413v3},
}