Model predictive control (MPC) for uncertain systems in the presence of hard constraints on state and input is a non-trivial problem, challenge increased manyfold absence measurements. In this paper, we propose an adaptive output feedback MPC technique, based novel combination observer robust MPC, single-input single-output discrete-time linear time-invariant systems. At each time instant, prov...

A centrally symmetric convex body is a compact set with non-empty interior that about the origin. Of particular interest are those both smooth and strictly convex—known here as regular bodies—since they retain many of useful properties d-dimensional Euclidean ball. We prove for any given C, homothetic packing copies C randomly chosen radii will have (2, 2)-sparse planar contact graph. further t...

Space-times admitting an r-parameter Lie group of homotheties are studied for r > 2 devoting a special attention to those representing perfect fluid solutions to Einstein's field equations. 1 Basic facts about homotheties Throughout this paper (M, g) will denote a space-time: M then being a Haus-dorff, simply connected, four-dimensional manifold, and g a Lorentz metric of signature (-,+,+,+). A...

We consider L-graphs, that is contact graphs of axis-aligned L-shapes in the plane, all with the same rotation. We provide several characterizations of Lgraphs, drawing connections to Schnyder realizers and canonical orders of maximally planar graphs. We show that every contact system of L’s can always be converted to an equivalent one with equilateral L’s. This can be used to show a stronger v...

We study harmonic morphisms by placing them into the context of conformal foli-ations. Most of the results we obtain hold for bres of dimension one and codomains of dimension not equal to two. We consider foliations which produce harmonic mor-phisms on both compact and noncompact Riemannian manifolds. By using integral formulae, we prove an extension to one-dimensional foliations which produce ...