Implementation of Centralized MPC on the Quadruple-tank Process with Guaranteeing Stability

Roza Ranjbar, Lucien Etienne, Eric Duviella, José Maestre


This work presents an implementation of a stabilizing model predictive control applied to a nonlinear system. In this work, the quadruple-tank system has been considered. For this process, a precise control benchmark was available and worked on previously. To ensure the asymptotic stability of this nonlinear system, we made a discretized linearized model and applied a centralized MPC controller with terminal cost constraint. The effectiveness of the proposed strategy is illustrated by simulations.


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