[1] Lee, J. H. and N. L. Ricker, "Extended Kalman Filter Based Nonlinear Model Predictive Control," Ind. Eng. Chem. Res., Vol. 33, No. 6, pp. 1530–1541 (1994).

[2] Ricker, N. L., and J. H. Lee "Nonlinear Model Predictive Control of the Tennessee Eastman Challenge Process," Computers & Chemical Engineering, Vol. 19, No. 9, pp. 961–981 (1995).

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