In this chapter we consider model predictive control
(MPC), an important advanced control technique for
difficult multivariable control problems. The basic MPC
concept can be summarized as follows. Suppose that
we wish to control a multiple-input, multiple-output
process while satisfying inequality constraints on the
input and output variables. If a reasonably accurate
dynamic model of the process is available, model and
current measurements can be used to predict future
values of the outputs. Then the appropriate changes
in the input variables can be calculated based on
both predictions and measurements. In essence, the
changes in the individual input variables are coordi-nated after considering the input-output relationships
represented by the process model. In MPC applica-tions, the output variables are also referred to as con-trolled variables or CVs, while the input variables are
also called manipulated variablesor MVs. Measured
disturbance variables are called DVsor feedforward
variables. These terms will be used interchangeably in