Sliding mode model based predictive control for non minimum phase systems

This paper shows the development of a predictive controller. The proposed sliding mode model predictive control (SMPC) algorithm blends the design technique of sliding mode control with model based predictive control. It is demonstrated that an appropriate choice of the tuning parameters of SMPC avoids the instability problems of MPC when applied to non minimum phase systems. It is shown that considerable robustness improvement with respect to MPC can be obtained in the presence of modelling uncertainty, and disturbances, also SMPC showed enhanced ability to handle set point changes in a non linear process. The performance of the controller was judged using a non linear and non minimum phase isothermal Van de Vusse reactor process.