Szukana fraza: [Abstract = "The combination of model predictive control based on linear models \(MPC\) with feedback linearization \(FL\) has attracted interest for a number of years, giving rise to MPC\+FL control schemes. An important advantage of such schemes is that feedback linearizable plants can be controlled with a linear predictive controller with a fixed model. Handling input constraints within such schemes is difficult since simple bound contraints on the input become state dependent because of the nonlinear transformation introduced by feedback linearization."]

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