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This paper details nonlinear Model-based Predictive Control (MPC) algorithms for MIMO processes modelled by means of neural networks of a feedforward structure. Two general MPC techniques are considered: the one with Nonlinear Optimisation (MPC-NO) and the one with Nonlinear Prediction and Linearisation (MPC-NPL). In the first case a nonlinear optimisation problem is solved in real time on-line. In...
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