Research articleGeneralized Discrete-time nonlinear disturbance observer based fuzzy model predictive control for boiler–turbine systems
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Highlights•A disturbance-observer-based fuzzy model predictive control scheme is proposed.•A novel generalized discrete-time nonlinear disturbance observer is designed.•Input constraints are satisfied by both the free and future control inputs in fuzzy MPC.•Disturbance compensation gain design removes the disturbance effect at steady state.

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