Practical approach to tuning MPC*

This paper presents the results of a heuristic approach for developing model predictive control (MPC) tuning rules. The tuning has been applied and tested in easy-to-use MPC. Process modeling in this MPC uses normalized input/output range. As a result there is no need for tuning outputs, a procedure known as adjusting equal concern error. Penalties on moves are set as a function of process dead time as the primary factor, with some correction from process gain. The default calculation delivers robust control, which tolerates up to triple increase in process static gain. If control is too aggressive, further on-line adjustment can be done by set point reference trajectory. Test results show that this tuning is robust for process gain change, however, it is much less efficient in compensating for process dead-time changes. It was found that dead-time mismatch is much better compensated with the model correction filter. Combining the three handles, i.e., penalties on moves, reference trajectory, and model filter, easy and intuitively understandable MPC tuning was achieved. The findings are illustrated by numerous MPC simulated tests.