Explicit GPC Control Applied to an Approximated Linearized Crane System

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jcse/volume-2019/3612634/figures/3612634.fig.007a.svgz" name="3612634.fig.007a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Control effort</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jcse/volume-2019/3612634/figures/3612634.fig.007b.svgz" name="3612634.fig.007b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Control increment</td></tr></table>

<div>Control action behaviour for Constrained GPC.</div>

Journal of Control Science and Engineering

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Figure 7

Figure 7: Explicit GPC Control Applied to an Approximated Linearized Crane System 