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![Basic MPC structure [1] | Download Scientific Diagram](/images/search?view=detailV2&id=A39A1D4475A6F6C64E9AB4A5BB37C6EA9F713A89&thid=OIP.U76zf-sjsLQ6FKtLwY989AHaHa&mediaurl=https%3a%2f%2fwww.researchgate.net%2fpublication%2f308342922%2ffigure%2ffig2%2fAS%3a667624866324481%401536185580051%2fBasic-MPC-structure-1_Q640.jpg&exph=512&expw=512&q=mpc+equation+graph&simid=608026821635550904&ck=CA52BA66A357C70F0F52B8718E164168&itb=0&FORM=IVCLIG)
![Basic MPC structure [1] | Download Scientific Diagram](/images/search?view=detailV2&id=A39A1D4475A6F6C64E9AB4A5BB37C6EA9F713A89&thid=OIP.U76zf-sjsLQ6FKtLwY989AHaHa&mediaurl=https%3a%2f%2fwww.researchgate.net%2fpublication%2f308342922%2ffigure%2ffig2%2fAS%3a667624866324481%401536185580051%2fBasic-MPC-structure-1_Q640.jpg&exph=512&expw=512&q=mpc+equation+examples&simid=608026821635550904&ck=CA52BA66A357C70F0F52B8718E164168&itb=0&FORM=IVCLIG)
![Basic MPC structure [1] | Download Scientific Diagram](/images/search?view=detailV2&id=A39A1D4475A6F6C64E9AB4A5BB37C6EA9F713A89&thid=OIP.U76zf-sjsLQ6FKtLwY989AHaHa&mediaurl=https%3a%2f%2fwww.researchgate.net%2fpublication%2f308342922%2ffigure%2ffig2%2fAS%3a667624866324481%401536185580051%2fBasic-MPC-structure-1_Q640.jpg&exph=512&expw=512&q=mpc+equation+derivation&simid=608026821635550904&ck=CA52BA66A357C70F0F52B8718E164168&itb=0&FORM=IVCLIG)
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