@online{olson2026,
  author = {Olson, Dieter},
  title = {Residual-Aware {Control:} {Bounds} and {Decisions} for
    {Nonlinear} {Motion}},
  date = {2026-01-18},
  url = {https://affinedrift.com/articles/tangent-hyperplane-articles/Advanced/Residual-Aware_Control.html},
  langid = {en}
}