The control performance evaluation of the selected On-line robust MPC approaches

The on-line robust constrained MPC is able to handle the system uncertainties and optimize the control performance. The paper describes the case study of chemical reactor stabilization in unstable operating point using four robust MPC approaches. The control scenarios were based on the worst-case optimization and the nominal system optimization. Moreover, the control strategies differ in usage of the single Lyapunov function and the parameter-dependent Lyapunov functions. The simulation results confirmed that using the nominal system optimization improved the control performance and the value of the cost function was reduced.