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This paper proposes a computationally effective predictive control algorithm for continuous-time, constrained nonlinear systems. The basic idea of the algorithm is to construct off-line a feasible and stable direction for the predictive controller via control Lyapunov functions (CLFs); and solve on-line the optimal step of the direction. Thus, the computational demand of the online optimization relies...
The backstepping technique is one of the tools which provides control Lyapunov functions (CLFs) and, therefore, control laws for automatic systems. In this paper, the backstepping design for position and force nonlinear electrohydraulic servos is investigated. Three control laws ensuring the asymptotic stability of references tracking are obtained by constructing CLFs on the errors concerning the...
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