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The method is based on a constrained robust model predictive control approach by the authors [IEEE Trans. Autom. Control 45, 1765-1770 (2000; Zbl 0990.93116)] which adopts the union of polytopic invariant target sets and optimizes a cost which is linear in the degree of freedom. The linearity of the cost combined with the linearity of the constraints enables the deployment of superposition so that a feasible control sequence for a particular state can be found as a linear combination of feasible control sequences of other states. Based on this observation, a stabilizing control algorithm which uses pre-computed optimal sequences for selected canonical states is elaborated. 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