Decentralized robust tube-based model predictive control: Application to a four-tank -system

This paper presents a decentralized model predictive controller for nonlinear systems that considers interaction between control inputs. The controller is based on a centralized robust tube-based nonlinear model predictive controller. The main contribution is a procedure to split the process model into s subsystems in order to construct s robust tube-based controllers ensuring a bounded linearization error. In order to show the applicability and effectiveness of the development, the proposed controller is tested on a coupled-tank system and the results are compared with a centralized nonlinear model predictive controller.

Keywords: Model predicted control, Decentralized control, Nonlinear control, Robust control.