Tanks level control with applying robust model predictive controller based on off-line optimization

In this research, practical example of robust model predictive control as one of advanced techniques in operation control systems related to oil, gas and petrochemical industries considers. As model predictive control is only modern control technique as essential application has caused in industrial control problems and its main achievement is unique ability reason for applying simple and effective hard constraints on control and state variables, but model predictive control has fundamental challenge as could not consider model uncertainties. Therefore best solution is using of robust model predictive control technique. Off-line calculating is obtained with sequences of polyhedral invariant set of state feedback control via performance cost minimization based on linear matrix inequalities optimization. Selected system is nonlinear, multivariable, with input and output constrained, also has uncertainty as with applying suggested control technique via simulation with Matlab software become stable.