“…When the on-line optimization problem becomes infeasible, the lowest prioritized constraints are dropped (Qin and Badgwell 1997). In the research literature, the few contributions to this eld include (Rawlings and Muske 1993), (Scokaert and Rawlings 1999), (Garcia and Morshedi 1986), (Kerrigan et al 2000), (Tyler and Morari 1999), (Scokaert 1994), (Alvarez and de Prada 1997), and (Vada et al 2001). To the bestof the authors knowledge, the strategy presented in (Vada et al 2001) is the only optimal infeasibility handler which considers hard prioritized constraints without the use of a sequential solution approach.…”