@article{paperid:1080309,
author = {Tahamipour Zarandi, Seyed Mohammad and Hosseini Sani, Seyed Kamal and Akbarzadeh Totonchi, Mohammad Reza and Akbarzadeh Tootoonchi, Alireza and FarajzadehDevin, MohammadGhassem},
title = {Design and Implementation of a Real-Time Nonlinear Model Predictive Controller for a Lower Limb Exoskeleton with Input Saturation},
journal = {Iranian Journal of Science and Technology-Transactions of Electrical Engineering},
year = {2020},
volume = {45},
number = {1},
month = {July},
issn = {2228-6179},
pages = {309--320},
			numpages = {11},
keywords = {Exoskeleton robot; Nonlinear Model Predictive Control (NMPC); Linear Time-Varying (LTV) MPC; Real-time controller; Input saturation.},
}