Before revision:  Then with a conservative approximation of probabilistic chance constraints for the MPC problem, a resulting deterministic optimization problem is formulated and solved efficiently and effectively. In the work here, this intuitive data-driven approach is also shown to preserve good robustness properties  .
After revision:  Then with a conservative approximation of probabilistic chance constraints for the MPC problem, a resulting deterministic optimization problem is formulated and solved effectively. This intuitive data-driven approach is also shown to preserve good robustness properties .