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This paper shows the synthesis of a robust predictive controller from a process model that represents a good approximation for nonlinear chemical processes. The controller is designed using the internal model and sliding mode control concepts. This approach results in a fixed controller structure that depends on the characteristic parameters of the model. The controller performance is compared with internal model control and sliding mode control for different linear examples. All linear models present a controllability relationship (t 0/τ) of greater than 1. Simulation results indicate that the proposed controller can work for processes with elevated deadtime, despite modeling errors.

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