Szukana fraza: [Abstract = "This paper points out that a similar property is implicit in constrained predictive control, as it is usually formulated. Predictive control therefore has a degree of implicit fault\-tolerance. In order to obtain this property the predictive control must have explicit constraints on the input levels \(actuator positions\) and the usual disturbance model, which results in integral action arising in the controller. The general considerations dealt with in the paper are illustrated by a simplified example, based on the liquefaction of natural gas."]

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