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ISBN-13: 9783319350219, 978-3319350219. The subjects treated include The presented simulation results demonstrate high accuracy and computational efficiency of the algorithms. For a few representative nonlinear benchmark processes, such as chemical reactors and a distillation column, for which the classical MPC algorithms based on linear models do not work properly, the trajectories obtained in the suboptimal MPC algorithms are very similar to those given by the "ideal" MPC algorithm with on-line nonlinear optimization repeated at each sampling instant.
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