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Cited article:

Active steering stability control of steer-by-wire vehicles based on variable horizon-robust model predictive control

Wenbin Shao, Xinqing Liang, Ting Fang, Linfeng Zhao and Yanping Hu
Journal of the Brazilian Society of Mechanical Sciences and Engineering 45 (8) (2023)
https://doi.org/10.1007/s40430-023-04316-5