Control Systems / Operations Research Engineer – Constrained Optimization (Python)

We are building an Open-Loop Advisory mathematical engine for an industrial client. Your objective is to build a constrained Model Predictive Control (MPC) algorithm that optimizes a 4-variable control vector while strictly adhering to two dynamic physical constraints. You will also deliver a fully automated retrain script for scheduled model calibration. You are building the mathematical engine only. To prove you are a human Operations Research engineer, start your proposal with the answer to this exact question: In a constrained Model Predictive Control (MPC) algorithm, if a state variable is rapidly approaching a hard physical constraint, exactly how do you mathematically formulate the penalty in the objective function to prevent a breach without causing severe control-loop oscillation?