On the Practical Design of Tube-Enhanced Multi-Stage Nonlinear Model Predictive Control

TL;DR

This paper discusses the practical design and implementation of a robust tube-enhanced multi-stage nonlinear model predictive control scheme, emphasizing systematic decision-making and application flexibility.

Contribution

It provides a systematic approach for designing and implementing a novel robust control scheme with practical industrial applications.

Findings

Demonstrates the flexibility of the control scheme in various applications

Provides a systematic design methodology

Illustrates implementation steps with an industrial example

Abstract

Tube-enhanced multi-stage nonlinear model predictive control is a robust control scheme that can handle a wide range of uncertainties with reduced conservatism and manageable computational complexity. In this paper, we elaborate on the flexibility of the approach from an application point of view. We discuss the path to making design decisions to implement the novel scheme systematically. We illustrate the critical steps in the design and implementation of the scheme for an industrial example.