Model Predictive Control with Integral Action: A simple MPC algorithm

Abstract

A simple Model Predictive Control (MPC) algorithm of velocity (incremental) form is presented.The proposed MPC controller is insensitive to slowly varying system and measurement trends and thereforehas integral action. The presented algorithm is illustrated by both simulations and practical experimentson a quadruple tank MIMO process.

Keywords

• MIMO systems
• model predictive control
• optimal controller
• integral action
• constraints