Szukana fraza: [Abstract = "In this paper, instability of first order PFC is addressed, and solutions to handle higher order and difficult systems are proposed. The input\/output PFC formulation is extended to cover the cases of internal models with zero and\/or higher order pole dynamics in an ARX\/ARMAX form, via a parallel and cascaded model decomposition. Finally, a generic form of PFC, based on elementary outputs, is proposed to handle a wider range of higher order oscillatory and non\-minimum phase systems. The range of solutions presented are supported by appropriate examples."]

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