Input to state stabilising nonlinear model predictive control based on QP

A magnetoinductive flowmeter that serves to measure the flow rate of a moving medium incorporates a measuring conduit, a sampling-electrode channel extending through the wall of the measuring conduit, and a sampling electrode, which sampling electrode is positioned in the sampling-electrode channel in such fashion that its sampling-electrode head is recessed from the inner wall of the measuring conduit. A section of the sampling-electrode channel located in front of the sampling-electrode head and extending up to the interior of the measuring conduit is left as a free space. This results in an improved signal-to-noise ratio of a voltage signal collected at the sampling electrode.