Offline: Calculate H’, G1 and G2
Online: Start PLC or PAC
Store all precomputed matrices in working memory, together with the reference for
inputs and output
while   CPU is running do
if   1 second passed since last call then
  Scale the temperatures
  Calculate current state
  Calculate g, and
  case   Hildreth algorithm
   Calculate the unconstrained inputs of the process.
   if   unconstrained inputs violate constraints then
    while   maximum numbers of iterations is not reached and   solution not
    found do
     Solve one iteration of the QP
    end
    if   maximum numbers of iterations is reached then
     Use unconstrained solution with inputs violating the constraint
     limited to the constraint
    end
   end
  endsw
  case   qpOASES
   while   maximum numbers of iterations is not reached and solution not
   found do
    Solve one iteration of the QP
   end
   if   maximum numbers of iterations is reached then
    Use last sub-optimal solution
   end
  endsw
  case   CVXGEN
   while   maximum numbers of iterations is not reached and solution not
   found do
    Solve one iteration of the QP
    end
   if   maximum numbers of iterations is reached then
    Use unconstrained solution with inputs violating the constraint limited
    to the constraint
   end
  endsw
  Apply the inputs to the system
end
end
Algorithm 1: Steps to compute the inputs of the experimental set-up.