\input zb-basic
\input zb-ioport
\iteman{io-port 50071232}
\itemau{Zavala, Victor M.; Biegler, Lorenz T.}
\itemti{The advanced-step NMPC controller: optimality, stability and robustness}
\itemso{Automatica 45, No. 1, 86-93 (2009).}
\itemcc{}
\itemut{}
\itemli{doi:10.1016/j.automatica.2008.06.011}
\end