“…Hence, these back-off (penalty) terms are being updated at each iteration in the present algorithm. This is a key difference with respect to penalty-based methods, which penalize deviations from a desired behavior through the implementation of constant penalty terms or sum of errors (i.e., sum of squares) in the objective function. ,, The reformulation of the inequality constraints implies that, by shifting away from the nominal operation of the plant (i.e., when Θ̂ unc is considered), dynamic operability of the plant may be ensured, even under the effects of stochastic realizations in the uncertain parameters. Robustness of the solution can be fine-tuned by modifying the user-defined weight parameter λ p , which determines the amount of variability (i.e., back-off terms) that is considered on each constraint g p,t due to model uncertainty. s.t. …”