“…Such tasks are particularly difficult when additional constraints on the control signals are considered, which demands using some numerical procedures to solve optimization problems with constraints. When a nonlinear description of the plant is not known accurately, predictive controllers employing artificial intelligence, for example, neural networks (Akesson and Tojvonen, 2006;Ławryńczuk, 2010;Chen and Yea, 2002;van der Boom et al, 2005) or modern versatile neuro-approximators (Tzirkel-Hancock and Fallside, 1992;Fabri and Kadrikamanathan, 2001;Pedro and Dahunsi, 2011) can be used.…”