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This work was supported by National Key Research and Development Program of China (Grant No. 2017YFB1302300) and National Natural Science Foundation of China (Grant Nos. 61673088, 61503060). Moreover, the authors gratefully acknowledge the contribution of an anonymous reviewer's comments.
Appendixes A–C.
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Figure 1
(a) Control diagram of multi-controller consisting of a model-based controller and an auxiliary controller; (b) compensation of convergence time of the cost function
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