A method for building robust model predictive controller universally applicable is presented based on the innate process characteristics independent of the method of control actuation. The method of universal MPC design permits proper configuration of requisite regulatory control loops for measured and unmeasured disturbance rejections consistent with the underlying innate process characteristics and their embedding within the overall process unit model predictive controller. The method of universal MPC design requires that manipulated variables process value based model (PV-based models) be used in control and optimization in place of the customary set point based models (SP-based models) or control output based models (OP-based models). The PV-based models are devoid of the manipulated variables regulatory controllers response and tuning. Based on the PV-based models, an alternate method of MPC called PV-based MPC is presented that is most robust and adaptable of possible three types of MPC. Based on the universal MPC design, the prior art MPC can be adapted to improve its robustness at or near control valve saturation.