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Model predictive control (MPC) is one of the few techniques which is able to handle with constraints on both state and input of the plant. The admissible evolution and asymptotically convergence of the closed loop system is ensured by means of a suitable choice of the terminal cost and terminal contraint. However, most of the existing results on MPC are(More)
— In this work, a new technique for the computation of ellipsoidal invariant sets for continuous-time linear systems controlled by a saturating linear control law is presented. New sufficient conditions to guarantee that an ellipsoid is a contractive invariant set for the closed-loop system is presented. The contractive nature of the invariant set ensures(More)
— This paper deals with the tracking problem for constrained linear systems using a model predictive control (MPC) law. As it is well known, MPC provides a control law suitable for regulating a constrained linear system to a given target steady state. Asymptotic stability and constraint fulfilment for any finite prediction horizon is typically ensured by(More)
—The usual way to guarantee stability of model predictive control (MPC) strategies is based on a terminal cost function and a terminal constraint region. This note analyzes the stability of MPC when the terminal constraint is removed. This is particularly interesting when the system is unconstrained on the state. In this case, the computational burden of(More)
This paper shows how interval arithmetic can be applied to the computation of control invariant sets. The paper reviews some concepts in invariant set theory and presents recursive algorithms to compute sequences of control invariant sets. These ideas can be used to design stable controllers subject to state and control constraints. To prove set inclusion(More)
We have studied the morphological changes of the dendrites of the pyramidal neurons of the prefrontal cortex (PFC) and the medium spiny neurons of the caudate-putamen (CPu) and nucleus accumbens (NAcc) induced by the injection of 6-hydroxydopamine (6-OHDA) into the substantia nigra pars compacta (SNc). The unilateral 6-OHDA-induced lesion of the SNc was(More)