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On the Performance Comparison between PI-LQR and Soft-Constrained MPC Applied to a 4-Tanks System

Authors

Chamorro, W. , VELARDE RUEDA, PABLO ANIBAL, Mosquera, G. , IEEE

External publication

Si

Means

2017 International Conference On Information Systems And Computer Science (inciscos)

Scope

Proceedings Paper

Nature

Científica

JCR Quartile

✗

SJR Quartile

✗

Web

https://www.scopus.com/inward/record.uri?eid=2-s2.0-85050972338&doi=10.1109%2fINCISCOS.2017.42&partnerID=40&md5=0028e729e2d6613c4220341c688d63f5

Publication date

01/01/2017

ISI

000454643900018

Scopus Id

2-s2.0-85050972338

DOI

10.1109/INCISCOS.2017.42

Abstract

This paper shows a comparison between two linear controllers, a PI-LQR and a Soft-Constrained MPC applied to a Four-Tank process, which main characteristics are the nonlinearities, multiple inputs and outputs coupled together and slow behavior. The model was linearized around an operating point by using an optimization method, named least square. Also, a general mathematic formulation for both controllers is presented that can be extended to any process control. All the procedure is described in detail, as well as the simulation results for both controllers. To achieve a real performance comparison the experimental data are obtained under the same conditions, and all the response parameters were analyzed.

Keywords

MPC; LQR; optimal control; least square method; process control; 4-tank system