A nonlinear model predictive control system based on Wiener piecewise linear models

In this paper a nonlinear model predictive control (NMPC) based on a Wiener model with a piecewise linear gain is presented. This approach retains all the interested properties of the classical linear model predictive control (MPC) and keeps computations easy to solve due to the canonical structure of the nonlinear gain. Some guidelines for the identification of the nominal model as well as the uncertainty bounds are discussed, and two examples that show the possibility of application of this control scheme to real life problems are presented.