Min-max Robust Model Predictive Control D.Odloak PQI5781- Controle de Processos Químicos II (AIChE Journal, 2004, 50 (8), 1824-1836)

Process Model – OPOM (Stable systems) , , , where

Extended IHMPC Objective Function (OF) Bounded OF Bounding constraint (end constraint)

Extended IHMPC Objective Function where

Extended IHMPC Optimization Problem

Min-Max Robust IHMPC We define

Min-Max Robust IHMPC Objective Function where H, cf and c are computed with and the terminal cost is computed with

Min-Max Robust IHMPC Optimization Problem (25) , Min-Max Robust IHMPC Optimization Problem Problem P4 Subject to (25)

Example: Debutanizer column

Example: Debutanizer column

Example: Debutanizer column