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

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

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

4. Extended IHMPC Objective Function
where

5. Extended IHMPC Optimization Problem

6. Min-Max Robust IHMPC
We define

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

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

10. Example: Debutanizer column

11. Example: Debutanizer column

12. Example: Debutanizer column