Model predictive control of time-delay systems with measurable disturbance compensation

Many processes in industry exhibit time-delay in their dynamic behavior. Time-delay is mainly caused by the time required to transport energy, information or mass, but it can be caused by processing time as well. There are also many cases when compensation of measurable disturbance is required. In light of these facts, the goal of this paper is to design predictive algorithm for control of time-delayed systems with the possibility of measurable disturbance compensation. Basically this paper deals with the essential principles of model predictive control (MPC), design process of the predictive controller and calculation of control law. The next section describes verification of designed regulator which was verified in MATLAB/SIMULINK and this algorithm was also tested by a real-time control of an experimental laboratory heat exchanger.