%%%%%%%%%%Ajuste de sumário
\usepackage{color}
\usepackage{transparent}
\usepackage[tocflat]{tocstyle}
\usetocstyle{allwithdot}
%
\usepackage{blindtext}

%%%Figures e tabelas
\usepackage{floatrow}
%\usepackage[labelsep=space,singlelinecheck=off]{caption}
\usepackage[singlelinecheck=off]{caption}
\usepackage{ragged2e}
%\DeclareFloatFont{tiny}{\tiny}
\floatsetup[table]{font=normal,capposition=top}
\floatsetup[figure]{font=normal,capposition=top}

%%%%%%%%%%%%%%%demais pacotes
%\usepackage{fontspec}
%\setmainfont{Arial}

%\usepackage{helvet} %utilizar fonte helvética (caso nem a arial nem a times new romam funcionarem)
%\usepackage{uarial} %utilizar fonte arial
%\renewcommand{\familydefault}{\sfdefault}

%fonte times new roman
%\usepackage{pslatex} %pacote obsoleto, deixa as letras gregas sem itálico
%\usepackage{newtxtext,newtxmath} %letras gregas feias
\usepackage{mathptmx} %letras do sumário zoadas, mas demais letras muito bonitas
%\usepackage{txfonts}

\usepackage{amsmath}
\usepackage{xfrac}
\usepackage{enumerate}

\usepackage{setspace}

\usepackage{subfigure}



% Redefinição do sumário para ele ficar de acordo com a norma
\makeatletter
\renewcommand\tableofcontents{%
  \null\hfill\textbf{\Large\contentsname}\hfill\null\par
  \@mkboth{\MakeUppercase\contentsname}{\MakeUppercase\contentsname}%
  \@starttoc{toc}%
}


%%Cores
\usepackage{xcolor}

\newcommand{\vermelho}[1]{\textcolor{red}{#1}}
\newcommand{\azul}[1]{\textcolor{blue}{#1}}
\newcommand{\verde}[1]{\textcolor{green}{#1}}
\newcommand{\amarelo}[1]{\textcolor{yellow}{#1}}
\newcommand{\laranja}[1]{\textcolor{orange}{#1}}
\newcommand{\roxo}[1]{\textcolor{purple}{#1}}
\newcommand{\cinza}[1]{\textcolor{grey}{#1}}

%controle de linhas órfãs e viúvas
\clubpenalty=10000
\widowpenalty=10000
\displaywidowpenalty=10000


%%%%Siga os exemplos para criar seus operadores matemáticos
\DeclareMathOperator{\modulo}{paridade}
\DeclareMathOperator{\parpar}{par}
\DeclareMathOperator{\parimpar}{impar}
\DeclareMathOperator{\T}{T}
\DeclareMathOperator{\tra}{tra}
\DeclareMathOperator{\diag}{diag}
\DeclareMathOperator{\maxx}{max}
\DeclareMathOperator{\sen}{sen}
\DeclareMathOperator{\inv}{inv}
\DeclareMathOperator{\D}{d}
\DeclareMathOperator{\comp}{comp}

%%%Siga o exemplo para criar seus próprios comandos
\newcommand{\referencia}[1]{#1^\ast}
\newcommand{\otimo}[1]{#1^{\star}}
%\newcommand{\maximo}[1]{#1_{\maxx}}
\newcommand{\maximo}[1]{\tilde{#1}}
\newcommand{\estimado}[1]{\hat{#1}}

\newcommand{\matr}[1]{\mathbf{#1}}

\newcommand{\ingles}[1]{\textit{#1}}
\newcommand{\assembly}[1]{\texttt{\MakeUppercase{#1}}}
\newcommand{\tipodado}[1]{\texttt{#1}}
\newcommand{\sectionx}[1]{\section{\MakeUppercase{#1}}}
\newcommand{\subsectionx}[1]{\subsection{\textbf{#1}}}
\newcommand{\subsubsectionx}[1]{\subsubsection{\textit{#1}}}

\newcommand{\nometecnica}{\ingles{dual model-based predictive control with six-step}}
\newcommand{\siglatecnica}{2MPC+6S}

\newcommand{\ddt}{\dfrac{\D}{\D t}}
\newcommand{\Ddt}[1]{\dfrac{\D #1}{\D t}}


%comandos de símbolos e simplificações

\newcommand{\fluxsymbol}{\lambda} %fluxo 
\newcommand{\Fluxsymbol}{\Lambda} %fluxo 
\newcommand{\currentsymbol}{i} %corrente
\newcommand{\voltagesymbol}{v} %tensão
\newcommand{\backemfsymbol}{e} %tensão
\newcommand{\torquesymbol}{\tau} %torque
\newcommand{\speedsymbol}{\omega} %velocidade
\newcommand{\positionsymbol}{\theta} %posição

\newcommand{\resistancesymbol}{r}
\newcommand{\inductancesymbol}{l}
\newcommand{\inertiasymbol}{j}
\newcommand{\frictionsymbol}{b}

\newcommand{\hallsymbol}{z}

\newcommand{\switchsymbol}{\gamma} %chaves
\newcommand{\commandsymbol}{\sigma} %comando das chaves
\newcommand{\vetsymbol}{\vec{\upsilon}} %vetor

\newcommand{\timesymbol}{t} %tempo
\newcommand{\discretetimesymbol}{k} %tempo
\newcommand{\constantsymbol}{\kappa} %tempo
\newcommand{\Constantsymbol}{K} %tempo
\newcommand{\numbersymbol}{n} %tempo
\newcommand{\Numbersymbol}{N} %tempo
\newcommand{\indexsymbol}{\eta} %tempo


\newcommand{\horizonsymbol}{h} %tempo
\newcommand{\factorsymbol}{\mu} %tempo
\newcommand{\costsymbol}{w} %tempo
\newcommand{\contsymbol}{g} %tempo
\newcommand{\outputsymbol}{y}
\newcommand{\inputsymbol}{u}
\newcommand{\Outputsymbol}{Y}
\newcommand{\Inputsymbol}{U}
\newcommand{\variationsymbol}{\Delta}
\newcommand{\dutycyclesymbol}{\zeta}
\newcommand{\newstatesymbol}{\chi}


\newcommand{\angcarga}{\theta_c}
\newcommand{\fasevref}{\referencia{\theta}}

\newcommand{\kk}{\discretetimesymbol} %tempo

\newcommand{\id}{\currentsymbol_{ds}} %corrente de eixo $d$
\newcommand{\iq}{\currentsymbol_{qs}} %corrente de eixo $q$
\newcommand{\vd}{\voltagesymbol_{ds}}  %tensão de eixo $d$
\newcommand{\vq}{\voltagesymbol_{qs}} %tensão de eixo $q$
\newcommand{\tee}{\torquesymbol_e} %V/H de eixo $q$
\newcommand{\we}{\speedsymbol_{e}} %rotação elétrica 
\newcommand{\ooe}{\positionsymbol_{e}} %posição angular elétrica 
\newcommand{\wm}{\speedsymbol_{m}} %rotação mecânica
\newcommand{\om}{\positionsymbol_{m}} %posição angular mecânica

\newcommand{\valpha}{\voltagesymbol_{\alpha s}}
\newcommand{\vbeta}{\voltagesymbol_{\beta s}}

\newcommand{\weref}{\referencia{\we}}
\newcommand{\wmref}{\referencia{\wm}}
\newcommand{\wref}{\wmref}




\newcommand{\ia}{\currentsymbol_{as}} %corrente de fase $a$
\newcommand{\ib}{\currentsymbol_{bs}} %corrente de fase $b$
\newcommand{\ic}{\currentsymbol_{cs}} %corrente de fase $c$

\newcommand{\iss}{\currentsymbol_{s}} %corrente da fase ativa
\newcommand{\iref}{\referencia{\currentsymbol}} %corrente de referência
\newcommand{\ir}{\iref} %corrente de referência

\newcommand{\va}{\voltagesymbol_{as}} %tensão de fase $a$
\newcommand{\vb}{\voltagesymbol_{bs}} %tensão de fase $b$
\newcommand{\vc}{\voltagesymbol_{cs}} %tensão de fase $c$

\newcommand{\vi}{\voltagesymbol_{i}} %tensão do barramento
\newcommand{\vsss}{\voltagesymbol_{s}} %corrente da fase ativa

\newcommand{\ess}{\backemfsymbol_{s}} %FCEM de fase $a$

\newcommand{\ea}{\backemfsymbol_{as}} %FCEM de fase $a$
\newcommand{\eb}{\backemfsymbol_{bs}} %FCEM de fase $b$
\newcommand{\ec}{\backemfsymbol_{cs}} %FCEM de fase $c$

\newcommand{\vab}{\voltagesymbol_{ab}} %tensão de fase $a$
\newcommand{\vbc}{\voltagesymbol_{bc}} %tensão de fase $b$
\newcommand{\vca}{\voltagesymbol_{ca}} %tensão de fase $c$

\newcommand{\eab}{\backemfsymbol_{ab}} %FCEM de fase $a$
\newcommand{\ebc}{\backemfsymbol_{bc}} %FCEM de fase $b$
\newcommand{\eca}{\backemfsymbol_{ca}} %FCEM de fase $c$
\newcommand{\tload}{\torquesymbol_m} %torque de carga

\newcommand{\teref}{\referencia{\torquesymbol}} %torque de carga


\newcommand{\lf}{\fluxsymbol_{f}} %fluxo dos ímãs
\newcommand{\lfd}{\fluxsymbol_{ds}} %fluxo dos ímãs
\newcommand{\lfqq}{\fluxsymbol_{qs}} %fluxo dos ímãs

\newcommand{\fluxref}{\referencia{\fluxsymbol}} %fluxo dos ímãs
\newcommand{\fluxostator}{\Fluxsymbol_{s}}
\newcommand{\fluxorotor}{\Fluxsymbol_{\rho}}


\newcommand{\funct}{(\timesymbol)}
\newcommand{\funck}{(\discretetimesymbol)}
\newcommand{\funckk}{(\discretetimesymbol+1)}
\newcommand{\funcpos}{(\ooe)}
\newcommand{\funcposx}{(\theta)}

\newcommand{\iat}{\ia\funct} %corrente de fase $a$
\newcommand{\ibt}{\ib\funct} %corrente de fase $b$
\newcommand{\ict}{\ic\funct} %corrente de fase $c$

\newcommand{\isst}{\iss\funct} %corrente da fase ativa
\newcommand{\issk}{\iss\funck} %corrente da fase ativa
\newcommand{\isskk}{\iss\funckk} %corrente da fase ativa

\newcommand{\isskknula}{\iss^{\rightarrow 0}\funckk} %corrente da fase ativa
\newcommand{\isskkvdc}{\iss^{\rightarrow 1}\funckk} %corrente da fase ativa

\newcommand{\irt}{\iref\funct} %corrente de referência
\newcommand{\irk}{\iref\funck} %corrente de referência


\newcommand{\scomt}{\scom\funct} %corrente de referência

\newcommand{\vat}{\va\funct} %tensão de fase $a$
\newcommand{\vbt}{\vb\funct} %tensão de fase $b$
\newcommand{\vct}{\vc\funct} %tensão de fase $c$

\newcommand{\vsst}{\vsss\funct} %corrente da fase ativa
\newcommand{\vssk}{\vsss\funck} %corrente da fase ativa

\newcommand{\teek}{\tee\funck} %torque
\newcommand{\teet}{\tee\funct} %torque

\newcommand{\eabt}{\eab\funct} %FCEM de fase $a$
\newcommand{\ebct}{\ebc\funct} %FCEM de fase $b$
\newcommand{\ecat}{\eca\funct} %FCEM de fase $c$

\newcommand{\esst}{\ess\funct} %corrente da fase ativa
\newcommand{\essk}{\ess\funck} %corrente da fase ativa

\newcommand{\vabt}{\vab\funct} %tensão de fase $a$
\newcommand{\vbct}{\vbc\funct} %tensão de fase $b$
\newcommand{\vcat}{\vca\funct} %tensão de fase $c$

\newcommand{\eat}{\ea\funct} %FCEM de fase $a$
\newcommand{\ebt}{\eb\funct} %FCEM de fase $b$
\newcommand{\ect}{\ec\funct} %FCEM de fase $c$

\newcommand{\idt}{\id\funct} %corrente de eixo $d$
\newcommand{\iqt}{\iq\funct} %corrente de eixo $q$
\newcommand{\vdt}{\vd\funct}  %tensão de eixo $d$
\newcommand{\vqt}{\vq\funct} %tensão de eixo $q$
\newcommand{\valphat}{\valpha\funct}
\newcommand{\vbetat}{\vbeta\funct}


\newcommand{\idk}{\id\funck} %corrente de eixo $d$
\newcommand{\iqk}{\iq\funck} %corrente de eixo $q$
\newcommand{\vdk}{\vd\funck}  %tensão de eixo $d$
\newcommand{\vqk}{\vq\funck} %tensão de eixo $q$
\newcommand{\wek}{\we\funck} %rotação elétrica 

\newcommand{\werefk}{\weref\funck} %rotação elétrica 
\newcommand{\wmrefk}{\wmref\funck} %rotação elétrica 
\newcommand{\wrefk}{\wref\funck} %rotação elétrica 

\newcommand{\valphak}{\valpha\funck}
\newcommand{\vbetak}{\vbeta\funck}

\newcommand{\idkk}{\id\funckk} %corrente de eixo $d$
\newcommand{\iqkk}{\iq\funckk} %corrente de eixo $q$
\newcommand{\vdkk}{\vd\funckk}  %tensão de eixo $d$
\newcommand{\vqkk}{\vq\funckk} %tensão de eixo $q$
\newcommand{\wekk}{\we\funckk} %rotação elétrica 

\newcommand{\wet}{\we\funct} %rotação elétrica 
\newcommand{\ooet}{\ooe\funct} %posição angular elétrica 
\newcommand{\wmt}{\wm\funct} %rotação mecânica
\newcommand{\omt}{\om\funct} %posição angular mecânica

%comandos de operadores
\newcommand{\seno}{\sen\ooe}
\newcommand{\coso}{\cos\ooe}

\newcommand{\cosp}{\cos\left(\ooe+\dfrac{2\pi}{3}\right)}
\newcommand{\cosn}{\cos\left(\ooe-\dfrac{2\pi}{3}\right)}

\newcommand{\senp}{\sen\left(\ooe+\dfrac{2\pi}{3}\right)}
\newcommand{\senn}{\sen\left(\ooe-\dfrac{2\pi}{3}\right)}

\newcommand{\trap}{\tra\left(\ooe+\dfrac{2\pi}{3}\right)}
\newcommand{\tran}{\tra\left(\ooe-\dfrac{2\pi}{3}\right)}

\newcommand{\senot}{\sen\ooet}
\newcommand{\cosot}{\cos\ooet}

\newcommand{\cospt}{\cos\left(\ooet+\dfrac{2\pi}{3}\right)}
\newcommand{\cosnt}{\cos\left(\ooet-\dfrac{2\pi}{3}\right)}

\newcommand{\senpt}{\sen\left(\ooet+\dfrac{2\pi}{3}\right)}
\newcommand{\sennt}{\sen\left(\ooet-\dfrac{2\pi}{3}\right)}

\newcommand{\trao}{\tra\ooe}
\newcommand{\traot}{\tra\ooet}

\newcommand{\trapt}{\tra\left(\ooet+\dfrac{2\pi}{3}\right)}
\newcommand{\trant}{\tra\left(\ooet-\dfrac{2\pi}{3}\right)}

\newcommand{\tet}{\tee\funct} %V/H de eixo $q$
\newcommand{\tloadt}{\tload\funct} %V/H de eixo $q$

\newcommand{\lfdt}{\lfd\funct} %fluxo dos ímãs
\newcommand{\lfqqt}{\lfqq\funct} %fluxo dos ímãs


\newcommand{\lss}{\inductancesymbol_{ss}} %indutância de estator
\newcommand{\lssx}{\inductancesymbol_{s}} %indutância de estator
\newcommand{\lssf}{\inductancesymbol_{f}} %indutância de estator

\newcommand{\fasevrefeq}{\fasevref_{eq}}

\newcommand{\kum}{\constantsymbol_{1}}
\newcommand{\kdois}{\constantsymbol_{2}}


\newcommand{\errofluxo}{\comp(\fluxref,|\fluxostator|)}
\newcommand{\errotorque}{\comp(\teref,\tee)}


\newcommand{\ld}{\inductancesymbol_{ds}} %indutância de eixo $d$
\newcommand{\lqs}{\inductancesymbol_{qs}} %indutância de eixo $q$
\newcommand{\rs}{\resistancesymbol_{s}} %resistência de estator
\newcommand{\np}{\numbersymbol_p} %número de polos
\newcommand{\jm}{\inertiasymbol_m} %momento de inércia
\newcommand{\bm}{\frictionsymbol_m} %atrito viscoso

\newcommand{\kt}{\constantsymbol_t} %constante de torque
\newcommand{\kex}{\constantsymbol_e} %constante de FCEM

\newcommand{\coefa}{\constantsymbol_{a}} %constante de torque
\newcommand{\coefb}{\constantsymbol_{b}} %constante de torque
\newcommand{\coefc}{\constantsymbol_{c}} %constante de torque

%estimador
\newcommand{\ganhoestimador}{\constantsymbol_{\speedsymbol}}

\newcommand{\wepertest}{\estimado{\we}}
\newcommand{\wmpertest}{\estimado{\wm}}
\newcommand{\wpertest}{\wepertest}
\newcommand{\wpertestk}{\wepertest\funck}

%comandos matemáticos compostos
\newcommand{\td}{-\dfrac{\rs}{\ld}} %frequência natural de eixo $d$
\newcommand{\tq}{-\dfrac{\rs}{\lqs}} %frequência natural de eixo $q$
\newcommand{\tss}{-\dfrac{\rs}{\lss}} %frequência natural de fase
\newcommand{\tm}{-\dfrac{\bm}{\jm}}%frequência natural mecânica
\newcommand{\tmp}{-\dfrac{2\bm}{\np\jm}}%frequência natural mecânica

\newcommand{\indicemodulacao}{\indexsymbol_m}
\newcommand{\vref}{\referencia{\voltagesymbol}}
\newcommand{\timpar}{\timesymbol_{\wedge}}
\newcommand{\tpar}{\timesymbol_{\vee}}
\newcommand{\tnulo}{\timesymbol_{o}}
\newcommand{\ts}{\timesymbol_{s}}
\newcommand{\tc}{\timesymbol_{c}}

\newcommand{\weqd}{\wet\dfrac{\lqs}{\ld}} %speed voltage $qd$
\newcommand{\wedq}{\wet\dfrac{\ld}{\lqs}} %speed voltage $dq$
\newcommand{\lfq}{-\dfrac{\lf}{\lqs}} %corrente induzida

\newcommand{\lfs}{-\dfrac{\kex}{\lss}\tra\funcpos} %corrente induzida
\newcommand{\lfj}{\dfrac{\kex}{\jm}\tra\funcpos} %corrente induzida

\newcommand{\lfsb}{-\dfrac{\kex}{\lss}\tran} %corrente induzida
\newcommand{\lfjb}{\dfrac{\kex}{\jm}\tran} %corrente induzida

\newcommand{\lfsc}{-\dfrac{\kex}{\lss}\trap} %corrente induzida
\newcommand{\lfjc}{\dfrac{\kex}{\jm}\trap} %corrente induzida

\newcommand{\ted}{\dfrac{3 \np}{4\jm}(\ld-\lqs)\iq} %torque de relutancia
\newcommand{\teq}{\dfrac{3 \np}{4\jm}\lf} %torque de ímãs

\newcommand{\vtd}{\dfrac{1}{\ld}} %V/H de eixo $d$
\newcommand{\vtq}{\dfrac{1}{\lqs}} %V/H de eixo $q$
\newcommand{\vts}{\dfrac{1}{\lss}} %V/H de eixo $abc$
\newcommand{\vtm}{\dfrac{1}{\jm}} %V/H de eixo $abc$

\newcommand{\termoa}{\dfrac{2}{3\lss}} %V/H de eixo $abc$
\newcommand{\termob}{\dfrac{1}{3\lss}} %V/H de eixo $abc$

\newcommand{\vtload}{\dfrac{\tloadt}{\jm}} %V/H de eixo $q$

\newcommand{\ha}{\hallsymbol_{0}}
\newcommand{\hb}{\hallsymbol_{120}}
\newcommand{\hc}{\hallsymbol_{240}}

%\newcommand{\vbusp}{$+\vi/2$} %tensão do barramento
%\newcommand{\vbusn}{$-\vi/2$} %tensão do barramento

\newcommand{\vbusp}{$\vi$} %tensão do barramento
\newcommand{\vbusn}{$0$} %tensão do barramento


\newcommand{\vetor}[1]{\vetsymbol_{#1}}
\newcommand{\vvetor}[1]{$\vetor{#1}$}

\newcommand{\scom}{\commandsymbol_s} %corrente de referência
\newcommand{\Sx}[1]{\switchsymbol_{#1}}

%parâmetros de controle
\newcommand{\horizontecontrole}{\horizonsymbol_u}
\newcommand{\horizontepredicao}{\horizonsymbol_y}
\newcommand{\costfunction}{\costsymbol}
\newcommand{\costfunctionk}{\costsymbol\funck}
\newcommand{\conty}{\contsymbol_y}
\newcommand{\contu}{\contsymbol_u}
\newcommand{\factoru}{\factorsymbol_u}

\newcommand{\skfut}{(\discretetimesymbol+\conty|\discretetimesymbol)}
\newcommand{\ukfut}{(\discretetimesymbol+\contu-1|\discretetimesymbol)}

\newcommand{\saida}{\outputsymbol}
\newcommand{\Saida}{\Outputsymbol}
\newcommand{\saidak}{\saida\funck}
\newcommand{\saidaref}{\referencia{\saida}}
\newcommand{\Saidaref}{\referencia{\Saida}}
\newcommand{\saidarefk}{\saidaref\funck}
\newcommand{\saidakfut}{\saida\skfut}
\newcommand{\saidarefkfut}{\saidaref\skfut}

\newcommand{\entrada}{\inputsymbol}
\newcommand{\Entrada}{\Inputsymbol}
\newcommand{\entradaopt}{\otimo{\inputsymbol}}
\newcommand{\Entradaopt}{\otimo{\Inputsymbol}}
\newcommand{\entradak}{\entrada\funck}
\newcommand{\entradakfut}{\entrada\ukfut}
\newcommand{\entradaoptk}{\otimo{\inputsymbol}\funck}
\newcommand{\Entradaoptk}{\otimo{\Inputsymbol}\funck}
\newcommand{\ventrada}{\variationsymbol\inputsymbol}
\newcommand{\Ventrada}{\variationsymbol\Inputsymbol}
\newcommand{\ventradaopt}{\otimo{\variationsymbol\inputsymbol}}
\newcommand{\Ventradaopt}{\otimo{\variationsymbol\Inputsymbol}}
\newcommand{\ventradak}{\ventrada\funck}
\newcommand{\ventradakfut}{\ventrada\ukfut}
\newcommand{\ventradaoptk}{\otimo{\variationsymbol\inputsymbol}\funck}
\newcommand{\Ventradaoptk}{\otimo{\variationsymbol\Inputsymbol}\funck}

%\newcommand{\unit}[1]{\ensuremath{\, \mathrm{#1}}}

\newcommand{\Xsymbol}{X}
\newcommand{\Asymbol}{\matr{A}}
\newcommand{\Bsymbol}{\matr{B}}
\newcommand{\bsymbol}{\Bsymbol}
\newcommand{\Csymbol}{\matr{C}}
\newcommand{\Gsymbol}{\matr{G}}
\newcommand{\gsymbol}{g}
\newcommand{\Msymbol}{\matr{M}}
\newcommand{\msymbol}{\matr{m}}

\newcommand{\afirstorder}{\indexsymbol_x}
\newcommand{\bfirstorder}{\indexsymbol_u}
\newcommand{\wmk}{\wm\funck}
\newcommand{\razaociclica}{\dutycyclesymbol}
\newcommand{\razaociclicak}{\razaociclica\funck}

\newcommand{\Azero}{\Asymbol_0}
\newcommand{\Bzero}{\Bsymbol_0}
\newcommand{\bzero}{\bsymbol_0}
\newcommand{\Czero}{\Csymbol_0}
\newcommand{\Xzero}{\Xsymbol_0}



\newcommand{\Ident}{\matr{I}}
\newcommand{\Nula}{\matr{O}}

\newcommand{\Gu}{\Gsymbol_u}
\newcommand{\Gx}{\Gsymbol_x}
\newcommand{\gxx}[1]{\gsymbol_{x#1}}
\newcommand{\Gy}{\Gsymbol_y}
\newcommand{\kg}{\matr{\Constantsymbol}_{\Gsymbol}}

\newcommand{\Muu}{\Msymbol_u}
\newcommand{\Myy}{\Msymbol_y}
\newcommand{\myy}[1]{\msymbol_{y#1}}
\newcommand{\muu}[1]{\msymbol_{u#1}}

\newcommand{\ninputs}{\numbersymbol_u}
\newcommand{\noutputs}{\numbersymbol_y}

\newcommand{\Xsymbolk}{\Xsymbol\funck}
\newcommand{\Xsymbolkk}{\Xsymbol(\kk+1)}

\newcommand{\trackingcost}{\costsymbol_y}
\newcommand{\trackingcostk}{\trackingcost\funck}
\newcommand{\factortracking}{\factorsymbol_y}

\newcommand{\attractioncost}{\costsymbol_i}
\newcommand{\attractioncostk}{\attractioncost\funck}
\newcommand{\factorattraction}{\factorsymbol_i}

\newcommand{\limitationcost}{\costsymbol_l}
\newcommand{\limitationcostk}{\limitationcost\funck}
\newcommand{\factorlimitation}{\factorsymbol_l}

\newcommand{\imax}{\maximo{\currentsymbol}}

\newcommand{\attractioncostb}{\costsymbol_{i,f}}
\newcommand{\attractioncostbk}{\attractioncostb\funck}
\newcommand{\factorattractionb}{\factorsymbol_{i,f}}

\newcommand{\factorvoltage}{\factorsymbol_v}
\newcommand{\penalizationfactor}{\factorsymbol_p}


\newcommand{\estadoadicional}{\newstatesymbol}
\newcommand{\estadoadicionalk}{\estadoadicional\funck}
\newcommand{\estadoadicionalkk}{\estadoadicional\funckk}
\newcommand{\ganhoestado}{\constantsymbol_{\newstatesymbol}}

\newcommand{\statespacedelta}{
\begin{split}
\Xsymbolkk = &\Asymbol \Xsymbolk + \bsymbol \ventradak \\
\saidak = &\Csymbol \Xsymbolk
\end{split}
}

\newcommand{\statespaceu}{
\begin{split}
\Xsymbolkk = &\Asymbol \Xsymbolk + \bsymbol \entradak \\
\saidak = &\Csymbol \Xsymbolk
\end{split}
}

\newcommand{\statespacedeltamimo}{
\begin{split}
\Xsymbolkk = &\Asymbol \Xsymbolk + \Bsymbol \Ventradak \\
\Saidak = &\Csymbol \Xsymbolk
\end{split}
}


\newcommand{\statespaceumimo}{
\begin{split}
\Xsymbolkk = &\Asymbol \Xsymbolk + \Bsymbol \Entradak \\
\Saidak = &\Csymbol \Xsymbolk
\end{split}
}

\newcommand{\NPoints}{\matr{\Numbersymbol}_d}
\newcommand{\NOuts}{\Numbersymbol_y}
\newcommand{\nd}{\numbersymbol_d}

%comandos de texto
\newcommand{\itema}{\item[--]}
\newcommand{\itemb}{\item}
\newcommand{\itemc}{\item[$\triangleright$]}
\newcommand{\grauu}{$^\circ$}
\newcommand{\tabspacex}{\vspace{-3mm} & & & & \\}


\newcommand{\hall}{\ingles{hall}}
\newcommand{\setor}{Setor}
\newcommand{\segmento}{Segmento}

