id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
ap-796	Rehák, B.	Design of a Predictive Hierarchical Controller Using FEMLAB	2006	6	.pdf	application/pdf	4651	266	69	( )� �� �D j x t u t D f x t u t tx x � � � �0 � �D j x t u t D f x t u t tu u( ), ( ) ( ), ( ) ( )� with boundary conditions defined as follows: x T x T TH ( ) ( ) � � � 0 0� while the value of the state at the end of the interval (T, TH) and also the value of the co-state at time T are not defined. The matrices Q, R in the upper-level cost functional were chosen such that q1 � q2 � 10, r1 � r2 � 0.2.	cache/ap-796.pdf	txt/ap-796.txt