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Lima, T. et al. (2021). Energy-based design of dynamic allocation in the presence of saturating actuators⁎This study was financed in part by the Coordenaçao de Aper-feicoamento de Pessoal de Nível Superior - Brasil (Capes) - Finance Code 001, and by ANR project HANDY 18-CE40-0010.. IFAC-PapersOnLine. 54 (9), pp. 304-309. [Online].