An Lmi - Based Constrained Mpc Scheme with Time - Varying Terminal Cost

Modelbased Predictive Control (MPC) is a control technique that is widely used in chemical process industry. In the past decade, stability of MPC has been an intensive research area, resulting in the general acceptance of a theoretical MPC stability framework introducing a terminal cost and terminal constraint to the classic MPC formulation. Although guaranteeing stability, issues regarding optimality and feasibility remain. In this paper, an LMI-based constrained MPC scheme for linear systems is introduced which guarantees stability by use of a time-varying terminal cost and terminal constraint. The online calculation of the terminal cost results in improved performance and feasibility compared to MPC schemes with fixed terminal cost. Finally, the technique is illustrated on a copolymerization reactor.