1. The infinite horizon MPC with input targets and control zones
Stable system with nu inputs and ny outputs 1

2. The infinite horizon MPC with input targets and control zones
Control structure 2

3. The infinite horizon MPC with input targets and control zones
Constraints that guarantee that the control objective is bounded: 3

4. The infinite horizon MPC with input targets and control zones
Problem P1
subject to
(11.5)
(11.6) 4

5. The infinite horizon MPC with input targets and control zones
With terminal constraints (IX.5) and (IX.6) the objective function
can be written as follows
with 5

6. The infinite horizon MPC with input targets and control zones6

7. 7

8. The infinite horizon MPC with input targets and control zones
Alternative Formulation 8

9. The infinite horizon MPC with input targets and control zones
Problem P2
subject to 9

10. The infinite horizon MPC with input targets and control zones
Problem P1 modified
subject to 10

11. The infinite horizon MPC with input targets and control zones
Example: The FCC subsystem 11

12. The infinite horizon MPC with input targets and control zones
Initial ss.

13. The infinite horizon MPC with input targets and control zones13

14. The infinite horizon MPC with input targets and control zones14

15. The infinite horizon MPC with input targets and control zones15

16. The infinite horizon MPC with input targets and control zones16

17. The infinite horizon MPC with input targets and control zones17