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P. Mhaskar, N. H. El-Farra and P. D. Christofides, “Pre dictive Control of Switched Nonlinear Systems with Sche duled Mode Transitions,” IEEE Transactions on Automa tic Control, Vol. 50, No. 11, 2005, pp. 1670-1680. doi:10.1109/TAC.2005.858692

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