Contents Preface Tutorial Introduction 1-2 Target Audience for the MPC Toolbox System Requirements MPC Based on Step Response Models Step Response Models 2-2 Model Identification 2-6 Unconstrained model Predictive Control 2-11 Closed-Loop Analysis 2-18 Constrained model predictive Control 2-20 Application: Idle Speed Control 2-22 Control Problem formulation 2-22 Simulations 2-24 Application: Control of a Fluid Catalytic Cracking Unit. 2-31 Process Description Control problem formulation 2-33i Contents Preface 1 Tutorial Introduction ......................................... 1-2 Target Audience for the MPC Toolbox . . . . . . . . . . . . . . . . . . . . 1-3 System Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 2 MPC Based on Step Response Models Step Response Models ................................. 2-2 Model Identification .................................. 2-6 Unconstrained Model Predictive Control .............. 2-11 Closed-Loop Analysis ................................ 2-18 Constrained Model Predictive Control ................. 2-20 Application: Idle Speed Control ....................... 2-22 Process Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22 Control Problem Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22 Simulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-24 Application: Control of a Fluid Catalytic Cracking Unit . 2-31 Process Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31 Control Problem Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . 2-33