Soft-Constrained Alternative Robust MPC: Experimental Study

Abstract The paper presents soft-constrained alternative robust (SCAR) MPC applied to a laboratory heat exchanger. Robust MPC is designed using a novel alternative strategy that combines suitable properties of existing approaches, namely, methods based on nominal system optimization and additional control input saturation. LMI-based robust MPC is supplemented by soft constraints and a new module SOFT-CON in MATLAB/Simulink toolbox MUP is developed. The proposed robust MPC strategy is validated in laboratory conditions. The experimental results confirm improved control performance of a heat exchanger subject to the soft-constraints and energy savings in comparison with existing approaches.