Szukana fraza: [Abstract = "In the case with an unmeasured state, a new, simpler MPC controller\-observer structure is proposed, with observation of a pure process state only. The structure is not only simpler, but also with less restrictive applicability conditions than the conventional approach with extended process\-and\-disturbances state estimation. Theoretical analysis of the proposed structure is provided. The design approach is also applied to the case with an augmented state\-space model in complete velocity form. The results are illustrated on a 2 x 2 example process problem."]

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