An approach to predictive control of multivariable time-delayed plant: stability and design issues.

In this paper, a new method of multivariable predictive control is presented. The main advantage of a predictive approach is that multivariable plants with time delays can be easily handled. The proposed control algorithm also introduces a compact and simple design in the case of higher-order and nonminimal phase plants, but it is limited to open-loop stable plants. The algorithm of the proposed multivariable predictive control is developed, designed, and implemented on an air-conditioned system. The stability of the proposed control law is discussed.

[Direct retention of the partial denture]. / Zapone delne proteze z ulito bazo.

Direct retainers or clasps are the most demanding structural elements of the partial denture. Numerous clasps which are presented in the literature are divided into two main groups according to their design and function: clasps with occlusal approach (circumferential clasps) and clasps with gingival approach (vertical projection clasps). Number of clasps described in the article are satisfactory for creative design of all removable dentures in the partially edentolous mouth.