Robust tube-based MPC for tracking applied to the quadruple tank process

This paper presents the application of a robust tube-based MPC for tracking of piece-wise constant references to a plant based on the quadruple-tank process . This controller, defined for LTI system subject to additive and bounded disturbances, ensures: (i) the feasibility for any admissible setpoint, (ii) the robust constraint satisfaction, (iii) robust stability and convergence to (a neighborhood of) the desired steady state