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N m are smooth mappings, f(0) = 0 and g(x k) 6= 0 for all x k 6= 0 With the following cost functional associated with trajectory tracking J(z k) = ¥ å n=k l(z n)uTRu (4) Where z k = x k nxd,k with.
Ankl u. Apr 27, 21 · k)u k, x0 = x(0) (3) Where x k 2Rn is the state of the system at time k 2Z 0 = f0, 1, 2, g, u k 2Rm is the input, f Rn!. Rn and g Rn!. 0 1 2 3 4 5 6 7 8 9;.
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