@article{learningsoftconstrainedmpcvaluefunctions,
  title = {Learning Soft Constrained MPC Value Functions: Efficient MPC Design and Implementation providing Stability and Safety Guarantees},
  author = {Nicolas Chatzikiriakos and Kim P. Wabersich and Felix Berkel and Patricia Pauli and Andrea Iannelli},
  year = {2024},
  eprint = {2401.07780},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2401.07780v3},
}