“…Model predictive control, a control strategy based on optimal control concept, has been widely used in chemical process industry because of its ability to handle multi-variable constrained control problems (Mayne, 2014;Rawlings & Mayne, 0000;Yu-Geng, De-Wei, & Shu, 2013). Recent years, with the development of theory and technology of predictive control, two-layered MPC has been the mainstream technology in industrial MPC (Pang, Zou, Cong, and Wang, 2015;Pang, Zou, Zhang, and Cong, 2015). The structure of two-layered MPC is showed in Fig.…”