@article{modelpredictivecontrolwithmodelsof,
  title = {Model Predictive Control with Models of Different Granularity and a Non-uniformly Spaced Prediction Horizon},
  author = {Tim Brüdigam and Daniel Prader and Dirk Wollherr and Marion Leibold},
  year = {2021},
  eprint = {2108.08014},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2108.08014v1},
}