“…[22] Furthermore the framework is versatile and process-independent with wide applicability; [23] implemented to systems including: (i) a combined heat and power (CHP) co-generation system for residential use, [24,25] (ii) distillation column, [19] (iii) a periodic chromatographic separation system of monoclonal antibodies, [26] (iv) pressure swing absorption, [27] (v) PEM fuel cell energy systems, [28,29] (vi) hydrogen storage tank, [30] (vii) batch polymerization system, [31] (viii) wind turbines, [32] and (ix) drug delivery systems including anaesthesia, [33] type-1 diabetes, [34,35] and leukemia. [36,37] PAROC addresses different classes of control problems such as: (i) nominal mpMPC, (ii) hybrid mpMPC, (iii) robust mpMPC, (iv) simultaneous mpMPC and moving horizon estimation, (v) integration of scheduling and control, and (vi) development of mp-MPC for periodic systems. The main features of PAROC are briefly discussed next.…”