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This book introduces how to improve the accuracy and robustness of model predictive control. Firstly, the disturbance observation- and compensation-based method is developed. Secondly, direct parameter identification methods are developed. Thirdly, the seldom-focused-on issues such as sampling and delay problems are solved in this book. Overall, this book solves the problems in a systematic and innovative way.Chapter 2 is available open access under a Creative Commons Attribution 4.0 International License via link.springer.com