I. Introduction
Model predictive control (MPC) is a control technique frequently used in the process industry. The two main advantages of model predictive controllers is that they are able to predict the impact of disturbances, and can accommodate for constraints on inputs and outputs of the dynamic systems they control. The design of model predictive controllers and their implementation in example industrial processes, most notably distillation columns, have been investigated thoroughly in literature, see for example [1] and [2]. In [3] and [4], non-linear MPC methods are investigated using a distillation column as benchmark.