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This paper presents an application of a stabilizing model predictive control (IHMPC) strategy with the underlying guarantee of feasibility to an oil production well system with Electric Submersible Pump (ESP) installation. The proposed controller is compared with a conventional finite-horizon MPC which provides some unfeasible solutions in the presence of an unmeasured disturbance, due to the typical conflict among the ESP-lifted oil well system constraints. The results show IHMPC as a viable choice to improve ESP-lifted well production since it can incorporate the desired requirements and provides stabilizing control actions.

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In control theory, the inverted pendulum is a class of dynamic systems widely used as a benchmarking for evaluating several control strategies. Such a system is characterized by an underactuated behavior. It is also nonlinear and presents openloop unstable and integrating modes. These dynamic features make the control more difficult, mainly when the controller synthesis seeks to include constraints and the guarantee of stability of the closed-loop system. This chapter presents a stabilizing model predictive control (MPC) strategy for inverted pendulum-like behaved systems. It has an offset-free control law based on an only optimization problem (one-layer control formulation), and the Lyapunov stability of the closedloop system is achieved by adopting an infinite prediction horizon. The controller feasibility is also assured by imposing a suitable set of slacked terminal constraints associated with the unstable and integrating states of the system. The effectiveness of the implementable and stabilizing MPC controller is experimentally demonstrated in a commercial-didactic rotary inverted pendulum prototype, considering both cases of stabilization of the pendulum in the upright position and the output tracking of the rotary arm angle.