One-layer robust MPC: a multi-model approach

In this paper, an MPC that explicitly integrates the RTO structure into the dynamic control layer is presented. In particular, a robust MPC is proposed, which takes into account the uncertainties that arise from the difference between nonlinear and linear models, by means of a multi-model approach: a finite family of linear models is considered, which operate appropriately in a moderate-to-large region around a given operating point. In this way, each linear model provides an enough accurate description of the system. Feasibility and stability conditions are preserved. Moreover, the real plant converges to the optimal point that optimizes the economic cost function.