“…Although the specification of appropriate uncertainty weights is a subject of current research, insight into practical procedures is given in a number of recent publications (see, for example, Latchman and Crisalle, 1995;Cluett et al, 1994;Kuong and MacGregor, 1993). Three controllers are designed: (1) a nominal predictive controller (NPC); (2) a robust predictive controller (RPC); and (3) a robust predictive controller with integral action (RPCI).…”