Trajectory-Following and Off-Tracking Minimization of Long Combination Vehicles: A Comparison Between Nonlinear and Linear Model Predictive Control - Ghandriz, Toheed; Jacobson, Bengt J H; Nilsson, Peter; Laine, Leo (Distribuerad framdrivning mellan enheter i en lång fordonskombination High Capacity Vehicles with ELectrically PropellEd Dolly (HELPED) Vehicle System Dynamics, 2024)