MPC constraint specification clarification

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Deepayan Bhadra
Deepayan Bhadra 2021-4-13
I am looking at this content https://www.mathworks.com/help/mpc/ug/specifying-constraints.html
I have a question with the below explanation. If there is hard output constraint, V is 0. Then if a disturbance pushes it above the upper bound, how is a constraint violation avoided in the QP solution? Maybe I'm reading the whole thing wrong.

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