Question: For Exercise 20.1, suppose that a constraint is placed on the manipulated variable, uk+j 0.2 for j = 1, 2,.., M 1. Let t

For Exercise 20.1, suppose that a constraint is placed on the manipulated variable, uk+j ≤ 0.2 for j = 1, 2,.., M – 1. Let ∆t = 2 and N = 40. Select values of M, P, and R so that these constraints are riot violated after a unit step disturbance occurs.

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