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Doan, D. (author), Keviczky, T. (author), Negenborn, R.R. (author), De Schutter, B. (author)Optimization techniques have played a fundamental role in designing automatic control systems for the most part of the past half century. This dependence is ever more obvious in today’s wide-spread use of online optimization-based control methods, such as Model Predictive Control (MPC) [1]. The ability to capture process constraints and...journal article 2009