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In this paper, a novel predictive Extended State Observer (ESO)-based discrete controller with guaranteed input-to-state stability is developed. Predictive controllers based on ESOs are gaining acceptance for regulating MIMO systems with disturbances, uncertainties or actuator constrains. However, there is an important concern about this control structure regarding its closed-loop stability; a key property that is not strictly guaranteed with the most part of the previous formulations. This paper shows that -under the same assumptions th
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