In this paper, the robust control of a class of uncertain process systems with stable and unstable outputs that considers input constraints and control zones is addressed. In the proposed approach, a robust Linear Quadratic Regulator (LQR) controls the system outputs by manipulating the systems inputs and a robust Model Predictive Control (MPC) manipulates the output set-points to maintain the system outputs inside their zones and to enforce the input constraints and targets. The performance of the proposed controller is tested through the simulation of a low order industrial process. (C) 2018 Elsevier Ltd. All rights reserved.