Deliverable D3.2 is organized in three parts.1. The first part is this document including the front matter with the mandatory project and deliverable information.2. The second part is dedicated to necessary development of the SMPC method. This part is documented in a paper for the conference ACC25. This part is a pdf file produced by LaTeX.3. The third part includes the full contents of the deliverable. It begins with a summary of the theory and method ACC25 paper. The main part analyzes the differences between the developed SMPC controller with only constraints and two other controllers. One SMPC without probabilistic constraints but with penalty on rotational speed and then the OpenFAST ROSCO controller which is used for bench-marking. This part is also a pdf file produced by LaTeX.