“…Among many structures of empirical models, neural networks (Haykin, 1999) can be effectively used online in different versions of MPC algorithms (Åkesson and Toivonen, 2006;Liu et al, 1998;Ławryńczuk, 2007a;2007b;Ławryńczuk and Tadej, 2008;Nørgaard et al, 2000;Parisini et al, 1998;Piche et al, 2000;Pottmann and Seborg, 1997;Tatjewski, 2007;Tatjewski and Ławryńczuk, 2006;Trajanoski and Wach, 1998;Yu and Gomm, 2003). This is because neural networks are universal approximators (Hornik et al" 1989), and hence they may be used to approximate nonlinear behaviour of 234 M. Ławryńczuk technological dynamic processes (Hussain, 1999;Nør-gaard et al, 2000).…”