Nurkanović, A., Zanelli, A., Albrecht, S., Frison, G., & Diehl, M. (2020). contraction Properties of the Advanced Step Real-Time Iteration for NMPC⁎This research was supported by the German Federal Ministry of Education and Research (BMBF) via the funded Kopernikus project: SynErgie (03SFK3U0) and by the German Federal Ministry for Economic Affairs and Energy (BMWi) via eco4wind (0324125B) and DyConPV (0324166B), and by DFG via Research Unit FOR 2401.. IFAC-PapersOnLine, 53(2), 7041–7048. http://access.bl.uk/ark:/81055/vdc_100165743734.0x000005