... 211-2 14, Herľany, Slovakia, January 28-30, 2010, ISBN 978-1 -42 44- 642 3 -4 Rossiter J. A. (2003). Model- Based Predictive Control: A Practical Approach. Crc press, 318 p., ISBN 0- 849 3-1291 -4 Holečko, ... Multi-dimensional Model Predictive Control for Critical Process with Stochastic Behavior 123 Vojtech Veselý and Danica Rosinová. (2010). Robust Model Predictive Control Design, In: Model Predictive Control, ... the predicted control increments at time k, respectively. The length of the prediction horizon is Advanced Model Predictive Control 1 34 3.1 Unconstrained model predictive control In this...