NONLINEAR INTO STATE AND INPUT DEPENDENT FORM MODEL DECOMPOSITION - Applications to Discrete-time Model Predictive Control with Succesive Time-varying Linearization along Predicted Trajectories Topics: Nonlinear Signals and Systems In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, 87-92, 2010 , Funchal, Madeira, Portugal