A Benchmark Problem: The Non-isothermal Continuous Stirred Tank Reactor

This chapter deals with the constrained control problem of a non-isothermal continuous stirred tank reactor (CSTR). The aim is not to repeat the theoretical results discussed in the previous chapters, but is to show how the interpolation technique works for the benchmark problem of robust model predictive control (Kathare et al. in Automatica 32:1361–1379, 1996).