Szukana fraza: [Abstract = "Disturbance modeling and design of state estimators for offset\-free Model Predictive Control \(MPC\) with linear state\-space process models is considered in the paper for deterministic constant\-type external and internal disturbances \(modeling errors\). The application and importance of constant state disturbance prediction in the state\-space MPC controller design is presented. In the case with a measured state, this leads to the control structure without disturbance state observers."]

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