“…However, such as the MPC strategy in Li et al (2015) may not be effective for nominal systems with parameter uncertainties. Therefore, some extensions are made to the inevitable parameter uncertainties ( Song et al, 2016 ; Zhu, Song & Ding, 2018 ; Wang & Song, 2016 ) in the modeling process, which brings about the so-called robust MPC (RMPC) method (see e.g ., Kothare, Balakrishnan & Morari, 1996 ; Zhang et al, 2008 ; Wang, Song & Wei, 2021 ; Wang, Song & Wei, 2020 ; Liu et al, 2018 ).…”