Szukana fraza: [Abstract = "The described suboptimal MPC algorithm needs solving on\-line only a quadratic programming problem. Nevertheless, it gives closed\-loop control performance similar to that obtained in fully\-fledged nonlinear MPC, which hinges on online nonconvex optimisation. In order to demonstrate the advantages of structured models as well as the accuracy of the suboptimal MPC algorithm, a polymerisation reactor is studied."]