“…Since this ground-breaking study, much research has been focused on the performance assessment of both singleinput single-output (SISO) and multiple-input multipleoutput controllers as well as feedback, forward and cascade controllers, resulting in a large number of publications (Desborough and Harris, 1992;Harris et al, 1996Harris et al, , 1999Harris and Seppala, 2002;Jelali, 2006;Qin and Yu, 2007;AlGhazzawi and Lennox, 2009) in addition to several commercial applications (Desborough and Miller, 2002;Gao et al, 2003). The increasing popularity of model predictive control (MPC) in industrial applications (Qin and Badgwell, 2003) has led to a high demand for the performance monitoring of MPC systems.…”