@article{onstochasticmpcformulationswithclosed,
  title = {On stochastic MPC formulations with closed-loop guarantees: Analysis and a unifying framework},
  author = {Johannes Köhler and Ferdinand Geuss and Melanie N. Zeilinger},
  year = {2023},
  eprint = {2304.00069},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2304.00069v2},
}