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![Cover for Frank Allgower · Nonlinear Model Predictive Control - Progress in Systems and Control Theory (Paperback Book) [Softcover reprint of the original 1st ed. 2000 edition] (2012)](https://imusic.b-cdn.net/images/item/original/545/9783034895545.jpg?frank-allgower-2012-nonlinear-model-predictive-control-progress-in-systems-and-control-theory-paperback-book&class=scaled&v=1624563530)