Robust MPC with output feedback of integrating systems (Q446440)

Summary: In this work, a new approach to the design of a robust Model Predictive Control (MPC) with output feedback, input constraints, and uncertainties is presented. Multivariable predictive controllers have been used in industry to reduce the variability of the process output and to allow the operation of the system near to the constraints, where it is usually located the optimum operating point. For this reason, new controllers have been developed with the objective of achieving better performance, simpler control structure, and robustness with respect to model uncertainty. In this work, a model predictive controller based on a non-minimal state space model where the state is perfectly known is proposed. It is an infinite prediction horizon controller, and it is assumed that there is uncertainty in the stable part of the model, which may also include integrating modes that are frequently present in the process plants. The method is illustrated with a simulation example of the process industry using linear models based on a real process.