Titlebook: Nonlinear Model Predictive Control; Towards New Challeng Lalo Magni,Davide Martino Raimondo,Frank Allg?wer Book 2009 Springer-Verlag Berlin

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Hierarchical Model Predictive Control of Wiener Modelsl structure guarantees steady-state zero error regulation for constant reference signals and allows one to largely decouple the control design phase at the two levels while still guaranteeing the overall stability under mild assumptions.

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