@article{controllyapunovbarrierfunctionbasedmodel,
  title = {Control Lyapunov-Barrier Function Based Model Predictive Control for Stochastic Nonlinear Affine Systems},
  author = {Weijiang Zheng and Bing Zhu},
  year = {2022},
  eprint = {2211.06175},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2211.06175v2},
}