Szukana fraza: [Abstract = "Single\-point and multi\-point linearisation methods are discussed. The MPC\-NPL structure is far more reliable and less computationally demanding in comparison with the MPC\-NO one because it solves a quadratic programming problem, which can be done efficiently within a foreseeable time frame. At the same time, closed\-loop performance of both algorithm classes is similar. Finally, a hybrid MPC algorithm with Nonlinear Prediction, Linearisation and Nonlinear optimisation \(MPC\-NPL\-NO\) is discussed."]

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