Control of a quadruple tank process using a mixed economic and standard MPC

Abstract

This work presents a controller for a non-linear four-tank process as a solution of the CIC 2014 contest organized by the Comité Español de Automàtica. Along the paper we derive a Model Predictive control law that integrates Economic Model Predictive Control strategy with the standard quadratic Model Predictive Control approach. The resulting controller avoids convergence problems and demonstrates to be an easily computable solution that achieves the contest requirements.