@inproceedings{scholars46,
           title = {MPC design for constrained multivariable systems under actuator backlash},
          number = {9},
            note = {cited By 4; Conference of 7th IFAC Symposium on Dynamics and Control of Process Systems, DYCOPS 2004 ; Conference Date: 5 July 2004 Through 7 July 2004; Conference Code:142028},
          volume = {37},
           pages = {643--648},
       publisher = {IFAC Secretariat},
         journal = {IFAC Proceedings Volumes (IFAC-PapersOnline)},
            year = {2004},
          author = {Zabiri, H. and Samyudia, Y.},
            issn = {14746670},
        abstract = {A new approach to the design of Model Predictive Controller (MPC) that simultaneously addresses the actuator saturation and backlash is proposed in this paper. The discrete characteristics of the actuator backlash allows one to reformulate the input constraints as a set of mixed integer linear inequalities. As a result, the MPC is designed by solving a Mixed-integer Quadratic Programming problem. Simulation results are presented to show how this new approach performs as compared to the existing techniques of the backlash compensation when they are applied to an industrial case study. {\^A}{\copyright} IFAC Dynamics and Control of Process Systems, Cambridge, Massachusetts, USA, 2004},
             url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-84873103613&partnerID=40&md5=99419aba7bda824c9661a18830931d6f},
        keywords = {Actuators; Integer programming; Linear matrix inequalities; Multivariable systems; Quadratic programming, Actuator saturations; Backlash compensation; Industrial case study; Input constraints; Mixed integer linear; Mixed integer quadratic programming; Model predictive controllers; New approaches, Predictive control systems}
}