“…Secondly, a MPC (Cutler and Ramaker, 1980) rather than a PID controller is employed to serve as the prefilter of the compound control structure. It should be pointed out that MPC is one of the most popular advanced algorithm used in chemical industrial processes (Berber and Coskun, 1996;Dougherty and Cooper, 2003;Guiamba and Mulholland, 2004;Chen et al, 2008;Labbidi et al, 2004) due to its remarkable superiority in dealing with time delays (Ramasamy et al, 2005). Finally, the analysis and design method of Zhu et al (2005) is only for low-order systems since the control analysis there is constrained to a PID structure, while our design method is also suitable for high-order systems.…”