1. Contract-based Predictive Control for Modularity in Hierarchical Systems. Issue 20 (2018) Authors: Bäthge, Tobias; Kögel, Markus; Cairano, Stefano Di; Findeisen, Rolf Journal: IFAC-PapersOnLine Issue: Volume 51:Issue 20(2018) Page Start: 499 Record Type: Journal Article View Content: Available online (eLD content is only available in our Reading Rooms) ↗