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In this paper we discuss how to obtain accurate and simple sampled-data models for model predictive control (MPC) in power electronics. We highlight the role that relative degree plays in the model accuracy. To support our presentation, we review examples from the literature where model complexity, time-varying parameters, and nonlinearities make the discretization procedure a key issue to achieve...
The problem of safe locomotion of legged and wheeled robots, when trying to avoid falling, tipping over or hitting obstacles, appears to be a problem of viability and not of Lyapunov stability. Theoretically speaking, viability and model predictive control are unquestionably related, but both can quickly lead to untractable numerical problems. We present here a promising approach for the problem of...
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