... of the problem, and ensuring that the controller does not attempt to control weakly controllable directions of the process. Advanced Model Predictive Control 290 Ozkan, G., Hapoglu, H. and ... predictive control using local models-applied to a batch fermentation process. Control Engineering Practice. 3 (3), 389-396. Garcia, C.E. and Morari, M., (1982) Internal model control. 1. ... (2 011) Mobile robot local trajectory tracking with dynamic model predictive control techniques, International Journal of Innovative Computing, Information and Control, Vol.7, No.6, (June 2 011) ,...