Szukana fraza: [Abstract = "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 order to reduce the computational burden, in the second case a neural model of the process is used on\-line to determine local linearisation and a nonlinear free trajectory."]

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