... and Nonlinear Control, Vol 18 (16), pp.1513-1531, November 10, 2007. Scholte E., Campbell M.E., “Robust Nonlinear Model Predictive Control With Partial State Information,” Control Systems ... Robust Model Predictive Control. ” Automatica. Vol. 40(1): pp. 163-167, 2004. Crassidis J. L., “Robust Control of Nonlinear Systems Using Model- Error Control Synthesis,” Journal of guidance, control ... using the internal model based controller. The details of the implementation of IMC-PID controller can be found in Zulkeflee & Aziz (2009). Advanced Model Predictive Control 280 The...