Probably Approximately Correct Nonlinear Model Predictive Control (PAC-NMPC).

Adam Polevoy Marin Kobilarov Joseph L. Moore Probably Approximately Correct Nonlinear Model Predictive Control (PAC-NMPC). 7226-7233 2023 November 8 IEEE Robotics Autom. Lett. 11 https://doi.org/10.1109/LRA.2023.3315209 db/journals/ral/ral8.html#PolevoyKM23