“…Typically, in MPC, the objective (or cost) function penalizes deviations of the states and inputs from their reference values, while the constraints are enforced explicitly (Goodwin, Seron, & de dona 2005). Recently, MPC is being considered for refrigeration systems (Hovgaard, Larsen, & Jorgensen 2011), for power production plants (Halvgaard, Poulsen, Madsen, & Jorgensen 2012), (Edlund, Bendtsen, & Jørgensen 2011) and transportation networks (Negenborn, de Schutter, & Hellendoorn 2008).…”