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Legal Empowerment of Informal Workers: Alternative models of regulation for street vendors in Bogota, Colombia

Many street vendors live under constant fear of eviction and harassment because the law does not recognize their businesses and they work outside the rule of law. Furthermore, in some cities street vending is a criminal offence to public order and vendors can be sent to prison. Using the empowerment theory, defended by Hernando De Soto, this article will examine to what extent formalization - unde

ISA 95 – The vendor, end-user, academic and consultant perspective

The ISA 95 standard has started to have a major impact on manufacturing systems, being used for ERP to MES integration, MES specification, and MES-LIMS-WEC-CMM integration. It is being rapidly embraced by users, vendors, and consultants as a model for Level 3 manufacturing systems. This paper presents each of the ISA 95 standards as seen by the different users. End Users have a different perspecti

Adaptive Nonlinear Model Predictive Control with Suboptimality and Stability Guarantees

Theory for Adaptive Nonlinear Model Predictive Control is developed based on the relaxed dynamic programming inequality. The adaptivity in the controller lies in the choice of control horizon. The control horizon is chosen such that a variation of the relaxed dynamic programming inequality holds for all time steps along the closed loop trajectory. This provides guarantees for asymptotic stability