927345.fig.005a
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927345.fig.005b
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927345.fig.005c
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927345.fig.005d
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927345.fig.005e
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927345.fig.005f
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927345.fig.005g
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927345.fig.005h
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Figure 5: RMPC of the unstable Rijke tube with different length in simulation. The RMPC has a prediction horizon of 𝑁 = 4 and uses a robust state observer. The RMPC is activated at 𝑡 = 2 . 1 s .