Fig. 1 State trajectories. SHMPC (solid line), SHMPC-1 (line with circle markers), SHMPC-2 (dotted line), and SHMPC-3 (dashed line). Terminal set is indicated by a round zone. More about this image found in State trajectories. SHMPC (solid line), SHMPC-1 (line with circle markers),...

Fig. 2 Control input. Solid line optimal SHMPC. Line with circle markers suboptimal SHMPC-1. Dotted line SHMPC-2. Dashed line suboptimal SHMPC-3. More about this image found in Control input. Solid line optimal SHMPC. Line with circle markers suboptima...

Fig. 3 Left: trend of cost function ( J ¯ suboptimal cost function and J ⋆ optimal cost function) and suboptimal bound R reported in Theorem 5, R 0 nominal bound value. Right: iterations performed. Upper line: suboptimal SHMPC-1. Middle line SHMPC-2. Lower... More about this image found in Left: trend of cost function ( J ¯ suboptimal cost function and ...

Fig. 4 State trajectories and terminal sets. Scenario 1: N = 150 / R = 20 . Line with circle markers suboptimal SHMPC. Outer zone: terminal set. Scenario 2: N = 150 / R = 15 . Dotted line SHMPC. Inner zone: terminal set. Scenario 3: N = 100 / R = 15 . Dashed ... More about this image found in State trajectories and terminal sets. Scenario 1: N = 150 / R = 2...

Fig. 5 State trajectories for different initial conditions and disturbance. External zoon circle marker: initial condition. Internal circle marker: final condition. Terminal set is indicated by round zone. More about this image found in State trajectories for different initial conditions and disturbance. Extern...

Fig. 1 The structure of the considered CPS under two-channel FDI attacks More about this image found in The structure of the considered CPS under two-channel FDI attacks

Fig. 2 The illustration of the reconstructed input control sequence u r ( τ ϑ ) and the optimal input control signal u ̂ * ( τ ϑ ) More about this image found in The illustration of the reconstructed input control sequence u r ...

Fig. 3 The displacement comparison of the system among different kinds of MPC strategies More about this image found in The displacement comparison of the system among different kinds of MPC stra...

Fig. 4 The velocity comparison of the system among different kinds of MPC strategies More about this image found in The velocity comparison of the system among different kinds of MPC strategi...

Fig. 5 The control input trajectories between resilient ST-MPC and resilient MPC under FDI attack More about this image found in The control input trajectories between resilient ST-MPC and resilient MPC u...

Fig. 6 The contrasts of triggering times between resilient MPC and resilient ST-MPC More about this image found in The contrasts of triggering times between resilient MPC and resilient ST-MP...

Fig. 1 Exo-Abs and its mathematical modeling. ( a ) The Exo-Abs consists of a belt-driven pouch to compress abdomen, a mechatronic unit including the motor as actuator, a spirometer and a chest plethysmograph as respiratory monitoring sensors. The closed-loop control specifies the desired exhalati... More about this image found in Exo-Abs and its mathematical modeling. ( a ) The Exo-Abs consists of a belt...

Fig. 2 Representative example of ( a ) unassisted and ( b ) Exo-Abs assisted breaths (including both inhalation and exhalation) More about this image found in Representative example of ( a ) unassisted and ( b ) Exo-Abs assisted breat...

Fig. 3 Block diagram of Exo-Abs for robust absolutely stabilizing control design and analysis More about this image found in Block diagram of Exo-Abs for robust absolutely stabilizing control design a...

Fig. 4 Representative examples of actual Exo-Abs-assisted exhaled air (i.e., the portion of the exhaled air contributed by the Exo-Abs; dashed) vs the same Exo-Abs-assisted exhaled air reproduced by the mathematical model (sloid, with the shade indicating the uncertainty envelope). More about this image found in Representative examples of actual Exo-Abs-assisted exhaled air (i.e., the p...

Fig. 5 Probability density functions of the mathematical model parameters at both individual breath (66 thin lines) and cohort (thick line) levels inferred by the C-VI method. Diagonal entries show the probability density functions of individual mathematical model parameters, while off-diagonal en... More about this image found in Probability density functions of the mathematical model parameters at both ...