Lyapunov-based Model Predictive Control of Nonlinear quadruple tank System Using Constrained and Unconstrained methods

Model predictive control is a widely utilized advanced control technique in industrial settings, valued for its capacity to effectively manage complex multi-input multi-output processes while optimizing process performance. Lyapunov-based model predictive control of Nonlinear Systems is a method that incorporates the objective function as a suitable Lyapunov function, thereby ensuring stability of the nonlinear system. This study involves the modeling of a nonlinear system to the Lyapunov function and the analysis of a quadruple tank using nonlinear model predictive control and barrier function-based model predictive control algorithms. Additionally, a comparison is made between a PID controller and a well-established industrial controller to evaluate the performance of the nonlinear quadruple tank, with the findings indicating satisfactory results.

Keywords:

Nonlinear systems , Model predictive control , Nonlinear model predictive control , Barrier function-based model predictive control , Quadruple tank