env cmb =
( min( ) c( ) max( ) for 0
10) 0 90
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Prob
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:
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where c = cc c + cd d, c is a unit step, and d is a white noise. Roughly
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speaking, the speci cation env cmb requires at least a 90% probability that the
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envelope constraint env be satis ed over the rst ten seconds. env cmb limits the
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e ect the (stochastic) disturbance can have during a command step input however,
we do not know whether env cmb is convex.
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