“…Model-based control concepts are a promising technique in order to fulfill this requirement. In many other industries, modelbased controller design is already well established, e.g., in robotics [13,14], in 25 the heating, ventilating and air conditioning industry [15,16,17,18,19,20], in the automotive industry [21,22,23] or in chemical process control [24] -to mention just a few examples. For model-based controller design, the availability of an appropriate dynamic process model is essential.…”