Model Predictive Control of Multivariable Nonlinear Processes in Continuous-Time

This paper concerns the synthesis of continuous-time feedback control systems for multivariable nonlinear processes with deadtimes. A general model predictive control law, that minimizes a quadratic performance index in the presence of input constraints and process deadtimes, is derived. The issue of deadtime compensation for a class of nonlinear multivariable systems is studied and an explicit control law is derived. Connections between the derived control law and (a) the globally linearizing control (GLC) and (b) the linear internal model control (IMC) are established. The theory is illustrated by a CSTR example.