Armin Nurkanović et al.. “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, vol. 53, no. 2, 2020, pp. 7041–7048. http://access.bl.uk/ark:/81055/vdc_100165743734.0x000005