![](bg9.png)
This paper is restricted to the case of linear
systems because application of algorithm developed
by (Gilbert and Tan, 1991) and by extension definition
of C is not direct for nonlinear systems. That is why
future works will also deal with extension to nonlin-
ear systems. We will also extend stability to the case
of suboptimal solution given by the optimizer and im-
prove robustness with respect to system uncertainties.
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