2008 MSC Paper Abstract

This paper presents the experimental results of the application of a robust tube-based MPC for tracking of piece-wise constant references to a plant based on the quadruple-tank process. This controller, defined for LTI system subject to additive and bounded disturbances, ensures: (i) the feasibility for any admissible setpoint, (ii) the robust constraint satisfaction, (iii) robust stability and convergence to (a neighborhood of) the desired steady state. Technical Content © IEEE Control Systems Society. This site is protected by copyright and trademark laws under US and International law. All rights reserved. © 2002-2007 PaperCept, Inc. Terms of use. Robust tubed-based MPC for tracking applied to the quadruple-tank process I. Alvarado, D. Limon, A. Ferramosca, T. Alamo and E.F. Camacho Abstract— This paper presents the application of a robust tube-based MPC for tracking of piece-wise constant references to a plant based on the quadruple-tank process [2]. This controller [7], defined for LTI system subject to additive and bounded disturbances, ensures: (i) the feasibility for any admissible setpoint, (ii) the robust constraint satisfaction, (iii) robust stability and convergence to (a neighborhood of) the desired steady state. This paper presents the application of a robust tube-based MPC for tracking of piece-wise constant references to a plant based on the quadruple-tank process [2]. This controller [7], defined for LTI system subject to additive and bounded disturbances, ensures: (i) the feasibility for any admissible setpoint, (ii) the robust constraint satisfaction, (iii) robust stability and convergence to (a neighborhood of) the desired steady state.