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Fernando A.C.C. Fontes is Associate Professor with Habilitation in the Department of Electrical and Computer Engineering, Faculty of Engineering, University of Porto (FEUP) and researcher in Systec - Institute of Systems and Robotics – Porto (ISR), LA-ARISE Advanced Production and Intelligent Systems Associated Laboratory. He received the first degree in Electrical and Computer Engineering from the University of Porto, the M.Sc. in Control Systems and the Ph.D. degrees from the Department of Electrical and Electronic Engineering, Imperial College London, U.K. In 2014 he received the Habilitation degree (Agregação) in Electrical and Computer Engineering from the University of Porto. He started his academic career in the Department of Mathematics of University of Minho, Portugal. He taught in the Department of Operational Research at LSE - The London School of Economics, and was a Research Assistant in the Centre for Process Systems Engineering at Imperial College London. In 2015/16 he was a Visiting Scholar in the Department of Electrical and Computer Engineering at Texas A&M University. In University of Minho he served as Director of the first degree in Applied Mathematics (2003-05), Deputy-head of Department (2002-05) and Head of the Department (2006-07). He was a member of the Officina Mathematica research centre where he coordinated the Optimization and Control Theory group during 2003-06. In 2009, he moved to the present position at Faculty of Engineering, University of Porto. He joined the Institute of Systems and Robotics – Porto (Systec- ISR), where he coordinates the Systec-Control thematic line. He has been teaching in the areas of Mathematics, Signal Processing, Systems and Control, as well as Automation and Robotics. His research interests are in optimization and control theory, having a specific interest in nonlinear and constrained problems, optimal control, and model predictive control. His main scientific contributions are in model predictive control (stability and robustness conditions for nonlinear and sampled-data systems), in optimal control (stronger forms of the maximum principle and numerical methods) and in nonlinear optimization methods (dynamic programming based and other global optimization algorithms). Lately, he has been interested in the application of these methodologies to robotics and to energy systems, in particular to Airborne Wind Energy.
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Identification

Personal identification

Full name
Fernando Armenio da Costa Castro e Fontes

Citation names

  • Fontes, Fernando A. C. C.
  • Fontes, Fernando A

Author identifiers

Ciência ID
3716-EBD5-6CFE
ORCID iD
0000-0003-3516-5094
AuthenticusID
R-000-4X5
Google Scholar ID
http://scholar.google.pt/citations?user=gqq6sAkAAAAJ&pagesize=100
Researcher Id
B-5172-2008
Scopus Author Id
6602095957

Addresses

  • Universidade do Porto, Faculdade de Engenharia, Departamento de Engenharia Electrotécnica e de Computadores. Rua Dr. Roberto Frias, 4200-465, Porto, Porto, Portugal (Professional)

Websites

Knowledge fields

  • Exact Sciences - Mathematics
  • Engineering and Technology - Electrotechnical Engineering, Electronics and Informatics - Automation and Control Systems
  • Engineering and Technology - Electrotechnical Engineering, Electronics and Informatics - Robotics and Automatic Control

Languages

Language Speaking Reading Writing Listening Peer-review
Portuguese Proficiency (C2) Proficiency (C2) Proficiency (C2) Proficiency (C2)
English Proficiency (C2) Proficiency (C2) Proficiency (C2) Proficiency (C2)
French Intermediate (B1) Upper intermediate (B2) Intermediate (B1) Intermediate (B1)
Spanish; Castilian Intermediate (B1) Upper intermediate (B2) Intermediate (B1) Intermediate (B1)
Italian Beginner (A1) Intermediate (B1) Beginner (A1) Beginner (A1)
Education
Degree Classification
2014
Concluded
 Agregação em Engenharia Eletrotécnica e de Computadores / Habilitation in Electrical and Computer Engineering (Título de Agregado)
Universidade do Porto Faculdade de Engenharia, Portugal
"n/a" (THESIS/DISSERTATION)
 Unanimidade
1999
Concluded
 University of London Degree of Doctor of Philosophy (Doctor of Philosophy)
Imperial College London, United Kingdom
"Optimisation-based control of constrained nonlinear systems" (THESIS/DISSERTATION)
 n/a
1994
Concluded
 MSc in Control Systems (Master)
Imperial College London, United Kingdom
"Optimal Stopping Algorithms for Irreversible Investment Decisions" (THESIS/DISSERTATION)
 n/a
1988 - 1993
Concluded
 Engenharia Electrotécnica e de Computadores (Licenciatura)
Universidade do Porto, Portugal
"Algoritmos de Controlo Óptimo" (THESIS/DISSERTATION)
 16
Affiliation

Teaching in Higher Education

Category
Host institution 		Employer
2009/02/27 - Current Associate Professor (University Teacher) Universidade do Porto, Portugal
Universidade do Porto Faculdade de Engenharia, Portugal
2009/02 - 2022/02 Associate Professor (University Teacher) Universidade do Porto, Portugal
2003/12 - 2009/02 Associate Professor (University Teacher) Universidade do Minho, Portugal
2000/03 - 2003/12 Assistant Professor (University Teacher) Universidade do Minho, Portugal
Universidade do Minho Departamento de Matemática e Aplicações Guimarães, Portugal
1995/03/01 - 2000/03/01 Assistant (University Teacher) Universidade do Minho, Portugal

Positions / Appointments

Category
Host institution 		Employer
2006/01 - 2008/01 Director de Departamento / Head of Department Universidade do Minho, Portugal
Universidade do Minho - Campus de Azurém, Portugal

Others

Category
Host institution 		Employer
2015/01/01 - Current Coordinator of the thematic line SYSTEC-CONTROL Universidade do Porto Centro de Investigação em Sistemas e Tecnologias, Portugal
2014/03/01 - Current Associate Professor with habilitation (agregação) in DEEC, Faculty of Engineering Universidade do Porto, Portugal
2012/02/01 - Current Adjunct coordinator for systems and control area Universidade do Porto Faculdade de Engenharia, Portugal
2007/06/01 - Current Member of Instituto de Sistemas e Robotica Porto, research unit Universidade do Porto, Portugal
2015/07/01 - 2016/08/30 Visiting Research Scholar Texas A&M University Department of Electrical and Computer Engineering, United States
2010/12/01 - 2015/02/01 Member of the Department Executive Committee, Departamento de Engenharia Electrotécnica e de Computadores Universidade do Porto Faculdade de Engenharia, Portugal
2003/12/01 - 2009/01/01 Associate Professor in the Dept. of Mathematics for Science and Technology Universidade do Minho, Portugal
2006/01/01 - 2008/01/01 Head of the Department of Mathematics for Science and Technology Universidade do Minho, Portugal
2002/04/01 - 2007/05/01 Member Officina Mathematica Research Unit, coordinator of the Optimization and Control Theory Group Universidade do Minho, Portugal
2003/10/01 - 2006/01/01 Director de curso da Licenciatura em Matemática Aplicada Universidade do Minho, Portugal
2000/03/01 - 2003/12/01 Assistant Professor in the Dept. of Mathematics for Science and Technology Universidade do Minho, Portugal
1998/07/01 - 1999/07/01 Research Assistant at the Centre for Process Systems Engineering Imperial College London, United Kingdom
1998/07/01 - 1999/07/01 Research Assistant at the Centre for Process Systems Engineering Imperial College London, United Kingdom
1997/09/01 - 1999/07/01 Class Teacher (part-time), Department of Operational Research London School of Economics and Political Science, United Kingdom
Projects

Grant

Designation Funders
2011/01 - 2014/12 Sensitivity Analysis for Deterministic Controller Design
264735
 European Commission

Contract

Designation Funders
2021/04/01 - 2024/03/31 Impact of COVID-19 lockdown measures on mobility, air pollution, health and macroeconomic indicators in Portugal: a Machine Learning Approach
DSAIPA/CS/0086/2020
Universidade do Porto Faculdade de Engenharia, Portugal

Universidade do Porto Centro de Investigação em Sistemas e Tecnologias, Portugal

Universidade do Porto Faculdade de Economia, Portugal

Administração Regional de Saúde do Norte IP, Portugal

Cruz Vermelha Portuguesa, Portugal
Fundação para a Ciência e a Tecnologia
Ongoing
2018/06/01 - 2022/05/30 Multi-Agent Control and Estimation for Multi-Horizon Goals Conciliation
PTDC/EEI-AUT/32485/2017
Universidade do Porto, Portugal

Universidade do Porto Instituto de Ciências e Tecnologias Agrárias e Agro-Alimentares, Portugal

Universidade do Porto, Portugal
Fundação para a Ciência e a Tecnologia
Ongoing
2018/05/01 - 2022/04/30 A Multi-Kite System to Harvest High Altitude Wind Power
PTDC/EEI-AUT/31447/2017
POCI-01-0145-FEDER-031447
Universidade do Porto, Portugal
 Fundação para a Ciência e a Tecnologia

Fundação para a Ciência e a Tecnologia
Ongoing
2018/08/15 - 2021/12/31 Distributed Optimal Control for Cyber-Physical Systems Applications
PTDC/EEI-AUT/31411/2017
Instituto de Engenharia de Sistemas e Computadores Investigação e Desenvolvimento em Lisboa, Portugal

Associação do Instituto Superior Técnico para a Investigação e Desenvolvimento, Portugal

Universidade do Porto, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2018/07/01 - 2021/06/30 Flexible And SusTainable manufacturing
PTDC/EGE-OGE/31821/2017
Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal

Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal
Fundação para a Ciência e a Tecnologia
Ongoing
2018/06/01 - 2021/05/31 Nonlinear control, estimation and fault-detection tools with provably guarantees for mobile robotic systems
PTDC/EEI-ROB/31823/2017
Universidade do Porto, Portugal
 Fundação para a Ciência e a Tecnologia
Ongoing
2018/06/01 - 2021/05/31 The Optimal Challenges in Irrigation
PTDC/MAT-APL/28247/2017
Universidade do Minho, Portugal

Universidade de Aveiro, Portugal

Universidade de Trás-os-Montes e Alto Douro, Portugal

Universidade do Porto, Portugal
Fundação para a Ciência e a Tecnologia
Ongoing
2016/06/01 - 2019/10/15 Theory, Applications and Numerics of Optimal Control
PTDC/EEI-AUT/2933/2014
Universidade do Porto Faculdade de Engenharia, Portugal

Universidade do Porto Faculdade de Economia, Portugal

Universidade de Aveiro, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2015/09/15 - 2016/09/14 Development of Optimization Based Control Techniques applied to networked and cyber-physical systems
SFRH/BSAB/113662/2015
 Fundação para a Ciência e a Tecnologia
Concluded
2013/07/01 - 2015/09/30 Optimal Control: Health, Energy and Robotics Applications
PTDC/EEI-AUT/1450/2012
Universidade do Porto Centro de Investigação em Sistemas e Tecnologias, Portugal

Universidade do Porto Faculdade de Engenharia, Portugal

Instituto de Engenharia de Sistemas e Computadores, Portugal

Universidade de Aveiro, Portugal

Universidade do Minho, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2011/01/01 - 2013/12/31 Optimal Control in Constrained and Hybrid Nonlinear Systems
PTDC/EEA-CRO/116014/2009
Universidade do Porto Centro de Investigação em Sistemas e Tecnologias, Portugal

Universidade do Porto Faculdade de Engenharia, Portugal

Instituto Politécnico do Porto Instituto Superior de Engenharia do Porto, Portugal

Universidade do Minho, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2010/02/08 - 2013/08/07 Evolutionary algorithms for Decision Problems in Management Science
PTDC/EGE-GES/099741/2008
Universidade do Porto Faculdade de Economia, Portugal

Universidade do Minho, Portugal

Universidade do Porto Faculdade de Engenharia, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2010/01/01 - 2013/02/28 Perception-Driven Coordinated Multi-Robot Motion Control
PTDC/EEA-CRO/100692/2008
Universidade de Lisboa Instituto Superior Técnico, Portugal

Universidade de Lisboa Instituto de Sistemas e Robótica, Portugal

Instituto de Engenharia de Sistemas e Computadores, Portugal

Instituto Politécnico do Porto Instituto Superior de Engenharia do Porto, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2005/07/01 - 2008/06/30 Decision Making over Physical Phenomena: A Hybrid Optimization Approach to Hybrid Dynamical Systems.
POCI/MAT/61842/2004
Universidade do Minho, Portugal

Universidade do Porto Faculdade de Economia, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2005/05/01 - 2008/04/30 Constrained Optimal Control and Applications
POSC/EEA-SRI/61831/2004
Universidade do Porto Centro de Investigação em Sistemas e Tecnologias, Portugal

Universidade do Porto Faculdade de Engenharia, Portugal

Universidade do Minho, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2001/07/23 - 2002/12/31 Optimal Control of Constrained Nonlinear Systems
POSI/EEI/14156/2001
 Fundação para a Ciência e a Tecnologia
Concluded
1994/10/01 - 1997/01/31 OPTIMIZAÇÃO DE SISTEMAS DE CONTROLO DINÂMICOS
PRAXIS XXI/BD/2918/94
Imperial College London, United Kingdom
 Fundação para a Ciência e a Tecnologia
Concluded
Outputs

Publications

Book
  1. Fontes, Fernando A C C; MCRM Fernandes; L.T. Paiva. A Model Predictive Control Scheme to Improve Performance of a Path-following Controller for Airborne Wind Energy. 2020.
  2. Z. Foroozande; L.T. Paiva; Maria do Rosário de Pinho; Fontes, Fernando A C C. A hp-h Adaptive Time-mesh Refinement Algorithm for Solving Optimal Control Problems. 2019.
  3. Homayouni, S.M; Dalila B.M.M. Fontes; Fontes, Fernando A C C. A Biased Random Key Genetic Algorithm for the Flexible Job Shop Problem with Transportation. 2019.
  4. Dalila B.M.M. Fontes; P.A. Pereira; Fontes, Fernando A C C. A Decision Support System for self-promotion planning at a TV station. 2019.
  5. LA Roque; MCRM Fernandes; L.T. Paiva; Dalila B.M.M. Fontes; Fontes, Fernando A C C. Setting the optimal kite location of a kite wind farm for optimal power production. 2019.
  6. M. C. R. Matos Fernandes; L.T. Paiva; Fontes, Fernando A C C. Numerical Computation of Optimal Path and Path-Following Control in Airborne Wind Energy Systems. 2019.
  7. Fernandes, MCRM; Silva, GB; L.T. Paiva; Fontes, Fernando A C C. A trajectory controller for kite power systems with wind gust handling capabilities. 2018.
    10.5220/0006914205430550
Book chapter
  1. Fernandes, MCRM; Paiva, LT; Fontes, FACC. "Optimal Path and Path-Following Control in Airborne Wind Energy Systems". 2021.
    10.1007/978-3-030-57422-2_26
Conference paper
  1. Mahdi Homayouni, S; Fontes, DBMM; Fontes, FACC. "A BRKGA for the integrated scheduling problem in FMSS". 2019.
    10.1145/3319619.3321933
  2. Silva, GB; Paiva, LT; Fontes, FACC. "A path-following guidance method for airborne wind energy systems with large domain of attraction". 2019.
  3. Lopes, S. O.; Costa, M. Fernanda P.; Pereira, Rui M. S.; Malheiro, M. Teresa; Fontes, Fernando A. C. C.; Lopes, SO; Costa, MFP; et al. "Irrigation planning with thin meshes". 2019.
    10.1007/978-3-030-57422-2_25
  4. Paiva, LT; Fontes, FACC. "A Sufficient Condition for Stability of Sampled-data Model Predictive Control using Adaptive Time-mesh Refinement". 2018.
    10.1016/j.ifacol.2018.10.182
  5. Caldeira, ACD; Paiva, LT; Fontes, DBMM; Fontes, FACC. "Optimal Reorganization of a Formation of Nonholonomic Agents Using Shortest Paths". 2018.
    10.1109/controlo.2018.8516407
  6. Faculdade de Engenharia; Fontes, Fernando. "A Trajectory Controller for Kite Power Systems with Wind Gust Handling Capabilities". Paper presented in 15th International Conference on Informatics in Control, Automation and Robotics, 2018.
    10.5220/0006914205430550
  7. L.T. Paiva; Fontes, Fernando A C C. "AMR-MPC: Sampled--data Model Predictive Control Using Adaptive Time--mesh Refinement, with Stability Guarantees". 2018.
  8. Paiva, LT; Fontes, FACC. "Optimal control of kite power systems: mesh-refinement strategies". 2017.
    10.1016/j.egypro.2017.10.254
  9. Paiva, LT; Fontes, FACC. "Optimal Control of Underwater Kite Power Systems". 2017.
    10.1109/ES2DE.2017.8015353
  10. Fontes, FACC; Rakovic, SV; Kolmanovsky, IV. "Rigid Tube Model Predictive Control for Linear Sampled-data Systems". 2017.
    10.1016/j.ifacol.2017.08.903
  11. Roque, LAC; Fontes, FACC; Fontes, DBMM. "New Formulations for the Unit Commitment Problem - Optimal Control and Switching-Time Parameterization Approaches". 2017.
    10.5220/0006465603260331
  12. Paiva, LT; Fontes, FACC; Faculdade de Engenharia; Luís Tiago Paiva; Fernando A. C. C. Fontes. "Sampled–data model predictive control using adaptive time–mesh refinement algorithms". 2017.
    10.1007/978-3-319-43671-5_13
  13. Zeiaee, A; Soltani Zarrin, R; Fontes, FACC; Langari, R. "Constrained Directions Method for Stabilization of Mobile Robots with Input and State Constraints". 2017.
  14. Rakovic, SV; Fontes, FACC; Kolmanovsky, IV; Sasa V Rakovic; Fontes, Fernando A C C; Ilya V. Kolmanovsky. "Reachability and Invariance for Linear Sampled data Systems". 2017.
    10.1016/j.ifacol.2017.08.675
  15. Roque, LAC; Fontes, DBMM; Fontes, FACC; Dalila B.M.M. Fontes; Fontes, Fernando A C C; Luis A C Roque; Faculdade de Economia; Faculdade de Engenharia. "A multi-objective unit commitment problem combining economic and environmental criteria in a metaheuristic approach". 2017.
    10.1016/j.egypro.2017.10.290
  16. Lopes, Sofia Oliveira; Fontes, Fernando A. C. C.; Lopes, SO; Fontes, FACC; Faculdade de Engenharia; Sofia O. Lopes; Fernando A. C. C. Fontes. "Optimal control for an irrigation problem with several fields and common reservoir". Paper presented in Controlo 2016, 2017.
    10.1007/978-3-319-43671-5_16
Journal article
  1. Manuel C. R. M. Fernandes; Sérgio Vinha; Luís Tiago Paiva; Fernando A. C. C. Fontes. "L0 and L1 Guidance and Path-Following Control for Airborne Wind Energy Systems". Energies 15 4 (2022): 1390-1390. https://doi.org/10.3390/en15041390.
    10.3390/en15041390
  2. Ali Arshad Uppal; Manuel C. R. M. Fernandes; Sérgio Vinha; Fernando A. C. C. Fontes. "Cascade Control of the Ground Station Module of an Airborne Wind Energy System". Energies (2021): https://doi.org/10.3390/en14248337.
    10.3390/en14248337
  3. "Modelling of smart irrigation with replan and redistribution algorithms". Journal of Sustainable Development of Energy, Water and Environment Systems N/A N/A (2021): 0-0. http://dx.doi.org/10.13044/j.sdewes.d9.0409.
    10.13044/j.sdewes.d9.0409
  4. Roque, Luís A.C.; Paiva, Luís Tiago; Fernandes, Manuel C.R.M.; Fontes, Dalila B.M.M.; Fontes, Fernando A.C.C.; Roque, LAC; Paiva, LT; et al. "Layout optimization of an airborne wind energy farm for maximum power generation". ENERGY REPORTS (2020): http://hdl.handle.net/10400.22/19467.
    10.1016/j.egyr.2019.08.037
  5. Fontes, FACC; Halder, A; Becerril, J; Kumar, PR; Fernando A. C. C. Fontes; Abhishek Halder; Jorge Becerril; P. R. Kumar. "Optimal Control of Thermostatic Loads for Planning Aggregate Consumption: Characterization of Solution and Explicit Strategies". IEEE Control Systems Letters 3 4 (2019): 877-882. https://doi.org/10.1109/LCSYS.2019.2918978.
    10.1109/lcsys.2019.2918978
  6. Paiva, L.T.; Fontes, F.A.C.C.. "Sampled–data model predictive control: Adaptive time–mesh refinement algorithms and guarantees of stability". Discrete and Continuous Dynamical Systems - Series B 24 5 (2019): 2335-2364. http://www.scopus.com/inward/record.url?eid=2-s2.0-85063871921&partnerID=MN8TOARS.
    10.3934/dcdsb.2019098
  7. Fontes, FACC; Paiva, LT. "Guaranteed constraint satisfaction in continuous-time control problems". IEEE Control Systems Letters (2019):
    10.1109/LCSYS.2018.2849853
  8. Halder, A.; Geng, X.; Fontes, F.A.C.C.; Kumar, P.R.; Xie, L.. "Optimal power consumption for demand response of thermostatically controlled loads". Optimal Control Applications and Methods 40 1 (2019): 68-84. http://www.scopus.com/inward/record.url?eid=2-s2.0-85053475483&partnerID=MN8TOARS.
    10.1002/oca.2467
  9. Fontes, DB; LIAAD-INESC L.A., Faculdade de Economia, Universidade do Porto, 4200-464 Porto, Portugal,; Pereira, PA; Fontes, FA; Universidade do Minho 4800-058 Guimarães, Portugal,; Universidade do Porto, 4200-465 Porto, Portugal,. "A decision support system for TV self-promotion Scheduling". International Journal of Advanced Trends in Computer Science and Engineering (2019):
    10.30534/ijatcse/2019/06822019
  10. Paiva, LT; Fontes, FACC; Faculdade de Engenharia; Luís Tiago Paiva; Fernando A. C. C. Fontes. "Optimal Control Algorithms with Adaptive Time-Mesh Refinement for Kite Power Systems". ENERGIES (2018): https://hdl.handle.net/10216/111779.
    10.3390/en11030475
  11. Paiva, LT; Fontes, FACC. "Optimal electric power generation with underwater kite systems". COMPUTING (2018):
    10.1007/s00607-018-0643-4
  12. Fontes, DBMM; Goncalves, JF; Fontes, FACC. "An Evolutionary Approach to the Maximum Edge Weight Clique Problem". RECENT ADVANCES IN ELECTRICAL & ELECTRONIC ENGINEERING (2018):
    10.2174/2352096511666180214105643
  13. Roque, LAC; Fontes, DBMM; Fontes, FACC. "A Metaheuristic Approach to the Multi-Objective Unit Commitment Problem Combining Economic and Environmental Criteria". ENERGIES (2017):
    10.3390/en10122029
  14. Lopes, Sofia O.; Fontes, Fernando A. C. C.; Lopes, Sofia Oliveira; Universidade do Porto, Universidade do Minho, Fundação para a Ciência e Tecnologia. "Optimal Control of a Multi-field Irrigation Problem: validation of a numerical solution by the optimality conditions". In this paper, we address the problem of minimizing the total water consumption over the period of a year used to supply different fields with different types of crops.We start by recalling a previous study, where the authors developed an optimal control model for this problem by minimizing the water flowing into a reservoir and where the water from the precipitation can be collected. The numerica (2017): http://journals.isel.pt/index.php/i-ETC/article/view/34.
    10.34629/ipl.isel.i-ETC.34
  15. Fontes, F.A.C.C.; Frankowska, H.. "Normality and nondegeneracy for optimal control problems with state constraints". Journal of Optimization Theory and Applications 166 1 (2015): 115-136. http://www.scopus.com/inward/record.url?eid=2-s2.0-85027933665&partnerID=MN8TOARS.
    10.1007/s10957-015-0704-1
  16. De Pinho, M.D.R.; Ferreira, M.M.A.; Fontes, F.A.C.C.. "Unmaximized necessary conditions for constrained control problems". Proceedings of the IEEE Conference on Decision and Control 1 (2004): 917-922. http://www.scopus.com/inward/record.url?eid=2-s2.0-14344256904&partnerID=MN8TOARS.
  17. Fontes, F.A.C.C.; Magni, L.. "Min-max model predictive control of nonlinear systems using discontinuous feedbacks". IEEE Transactions on Automatic Control 48 10 (2003): 1750-1755.
    Published • 10.1109/TAC.2003.817915
  18. A. C. C. Fontes, Fernando. "Discontinuous feedbacks, discontinuous optimal controls, and continuous-time model predictive control". International Journal of Robust and Nonlinear Control 13 3-4 (2003): 191-209.
    Published • 10.1002/rnc.813
  19. De Pinho, M.D.R.; Ferreira, M.M.A.; Fontes, F.A.C.C.; Maria do Rosário de Pinho; Maria Margarida Ferreira; Fernando Fontes; Faculdade de Engenharia. "An Euler-Lagrange inclusion for optimal control problems with state constraints". Journal of Dynamical and Control Systems 8 1 (2002): 23-45. https://repositorio-aberto.up.pt/handle/10216/92363.
    Published • 10.1023/A:1013948616436
  20. Fontes, F. "A general framework to design stabilizing nonlinear model predictive controllers". Systems & Control Letters 42 2 (2001): 127-143.
    Published • 10.1016/S0167-6911(00)00084-0
  21. Ferreira, M. "Nondegenerate Necessary Conditions for Nonconvex Optimal Control Problems with State Constraints". Journal of Mathematical Analysis and Applications 233 1 (1999): 116-129.
    Published • 10.1006/jmaa.1999.6270
  22. Ferreira, MMA; Fontes, FACC; Vinter, RB. "Nondegenerate necessary conditions for nonconvex optimal control problems with state constraints". Journal of Mathematical Analysis and Applications 233 1 (1999): 116-129.
    Published