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Based on states of the reference model, the designed stabilizer for the nonlinear reference model is then adapted for the nonlinear plant dynamics with a suitable adaptation mechanism, again by using the SDRE methodology.
Predicate derived based on states of an abstraction FSM M B. Splitting valuations can also be done based on selected state(s) of an abstraction FSM M B. Given M B, select an abstract state r = (s r, a) such that r has many outgoing transitions under a (parameterized) input (x, p x).
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