Szukana fraza: [Abstract = "With the anticipated filtering, applied in both the discrete\- and continuous\-time frameworks, the excitation of the closed\-loop system is suitably abated by performing a moderating filtration in the anticipated\-time domain. The pertinence of the anticipated filtering lies in shaping the closed\-loop characteristics of the control system, reducing the disagreeable control effort and, consequently, based on a certain balance obtained in the cost function, in making the \?\-tuning more practicable. The proposed tuning rules are validated via simulation experiments."]

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