“…Actually, in industries, MPC technology products have been developed by several venders and implemented to many industrial process units (Kassmann, Badgwell, & Hawkins, 2000;Krishnan, Kosanovich, DeWitt, & Creech, 1998;Sorensen & Cutler, 1998); see the recent industrial MPC survey paper (Qin & Badgwell, 2003). On the other hand, it is noted that less effort has been made on the performance assessment of existing constrained MPC applications, while the performance assessment of conventional unconstrained controllers has been well studied such as in Harris (1989), Harris, Boudreau, and Macgregor (1996), Huang, Shah, and Kwok (1997), Huang and Shah (1999), Xu, Lee, and Huang (2006), Choudhury, Shah, Thornhill, and Shook (2006), Jelali (2006), Salsbury (2007), Srinivasan, Rengaswamy, and Miller (2007) and Bauer and Craig (2008).…”