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A robust self-triggered adaptive control for closed-loop chemotherapy using GRU-assisted <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" altimg="si5.svg" display="inline" id="d1e478"> <mml:msub> <mml:mrow> <mml:mi>H</mml:mi> </mml:mrow> <mml:mrow> <mml:mi>∞</mml:mi> </mml:mrow> </mml:msub> </mml:math> -PID design | Researchclopedia