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When active constraints in the process are found after the pre-evaluation, the MPC-achievable benchmark developed for the unconstraint case become unachievable.
We mainly considered the process for two cases, the first case is a rather simple unconstraint case and in the second case different constraints were imposed on the process variables.
It does not present a DoD budget environment of total unconstraint, nor does it fund everything on the DoD's wish list.
i](t) which minimizes the following unconstraint cost problem of the MGPC method [8]: