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Nurkanović, A. et al. (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), pp. 7041-7048. [Online].