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Morato, M. et al. (2021). Robust Nonlinear Predictive Control through qLPV embedding and Zonotope Uncertainty Propagation ⁎This work has been supported by CNPq (304032/2019 — 0), CAPES (001) and ITEA3 European project (15016) EMPHYSIS.. IFAC-PapersOnLine. 54 (8), pp. 33-38. [Online].