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Sun, D. (author), Jamshidnejad, A. (author), De Schutter, B.H.K. (author)We propose a novel method to improve the convergence performance of model predictive control (MPC) for setpoint tracking, by introducing sub-references within a multilevel MPC structure. In some cases, MPC is implemented with a short prediction horizon due to limited on-line computation capacity, which could lead to deteriorated dynamic...journal article 2023