  Tube-enhanced multi-stage nonlinear model predictive control is a robust
control scheme that can handle a wide range of uncertainties with reduced
conservatism and manageable computational complexity. In this paper, we
elaborate on the flexibility of the approach from an application point of view.
We discuss the path to making design decisions to implement the novel scheme
systematically. We illustrate the critical steps in the design and
implementation of the scheme for an industrial example.
