1. A robust LQR-MPC control strategy with input constraints and control zones
Bruno D. O. Caprona and Darci Odloakb
(Journal of Process Control, 6, 89-99, 2018)

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38. Figure 2: Input with the robust LQR-MPC (───),
input with IHMPC (───), input limits (─ ─ ─) and
input target (─ ─ ─)

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41. Figure 3: Outputs with robust LQR-MPC (───), output with IHMPC (───),
output set-points of the robust LQR-MPC (─ ─ ─) and output zones (─ ─ ─)

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Figure 4: Objective costs associated to the models considered by the robust LQR-MPC

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Figure 5: Inputs with the robust LQR-MPC (───), input limits (─ ─ ─) and
input target (─ ─ ─)

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Figure 6: Outputs with robust LQR-MPC (───),
output set-points of the robust LQR-MPC (─ ─ ─)
and output zones (─ ─ ─)

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