Szukana fraza: [Abstract = "Within this approach, we are able to use the autonomous dynamics of the process in order to minimize a control cost index \(a sub\-optimality property\). The search itself is based on finding a cheapest path in a graph structure, which represents the system\?s dynamics described in the state space. Such a cheapest path \(if it exists\) represents the sought trajectory. Another \(on\-line\) design stage consists in tracking this trajectory by an executive controller."]

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