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![PDF] Tube MPC scheme based on robust control invariant set with application to Lipschitz nonlinear systems | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/b248229e7c7136e65f10a25edd7642980d36df16/6-Figure1-1.png "PDF] Tube MPC scheme based on robust control invariant set with application to Lipschitz nonlinear systems | Semantic Scholar")
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