On the design of reconfigurable two layer hierarchical control systems with MPC

Daniele De Vito, Bruno Picasso, Riccardo Scattolini. On the design of reconfigurable two layer hierarchical control systems with MPC. In American Control Conference, ACC 2010, Baltimore, Maryland, USA, June 30 - July 2, 2010. pages 4707-4712, IEEE, 2010. [doi]

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