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Wang et al. (2016) established a modelpredictive control (MPC) framework, incorporating sensor andactuatordelays to account formismatchbetween the system state prediction model and the actual behaviour.
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Wang, W.-X. Universal predictability of mobility patterns in cities. J. ... Yan, X.-Y., Wang, W.-X., Gao, Z.-Y. & Lai, Y.-C. Universal model of individual and population mobility on diverse spatial scales.