A practical tuning approach for multivariable model predictive control

Tuning Guidelines for Model-Predictive Control

“…In this case, at each time instant, MPC should solve two optimization problems: an internal problem, the solution of which is MPC tunable parameter values, and an external problem, the solution of which is the current values of the manipulated variables. Turki et al 43 also suggested an optimization approach for tuning predication horizons in MPC of linear controllable MIMO plants with active constrains. Their optimization problem has three performance indices (a stability degree index, an error index, and a rapidity index).…”

“…Optimization-based tuning methods have been developed for different control methods including MPC. Based on optimization, Turki et al 43 recommended setting Q = C T C and R = ρI. When applied to SISO and MIMO systems with FOPDT models, this tuning strategy was found to yield better performance in terms of response smoothness and speed, compared to those of Bagheri and Khaki-Sedigh 61 and Iglesias et al 63 Vallerio et al 64 employed a multiobjective optimization approach to tune Q and R by minimizing the deviation of the measured input and output from their references.…”

“…Turki et al 43 also suggested an optimization approach for tuning predication horizons in MPC of linear controllable MIMO plants with active constrains. Their optimization problem has three performance indices (a stability degree index, an error index, and a rapidity index).…”

“…Their optimization problem has three performance indices (a stability degree index, an error index, and a rapidity index). Based on the optimization, Turki et al 43 recommended setting Q = C T C and R = ρI.…”

“…Yamashita et al , recommended 3 ≤ M i ≤ 5, i = 1, ···, n u , while for a SISO plant Ebrahimi et al suggested setting M = P – d , where d is the dead time in a FOPDT process model of the plant. For SISO plants, the studies in refs , , , and suggest setting M = P , while studies in refs − recommend using the guideline of Shridhar and Cooper, and the study in ref uses the guideline of Clarke et al The control-horizon tuning guidelines that were reviewed in this section are summarized in Table , and those reviewed in ref are presented in Table S3 of the SI.…”