Search for: [Abstract = "The control law gain computation method used circumvents generally an ill\-conditioned singular design task. The principle, when compared with previously published results, indicates that the proposed method outperforms the existing approaches, guarantees feasibility, and improves the steady\-state accuracy of the control. Furthermore, better performance is achieved with essentially reduced design effort. The approach is illustrated on simulation examples, where the validity of the proposed method is demonstrated using one state equality constraint."]

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