Szukana fraza: [Abstract = "A predictive transformation of the nonlinear dynamic model is given. The incremental model is advantageous since the cost function contains the control increment and not the control signal itself. An incremental transformation of the predictive forms is also described. Sub\-optimal solutions to the optimal control algorithms are discussed with different assumptions for the control signal during the control horizon. The effect of the different strategies and the effect of the tuning parameters is investigated through simulation examples."]

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