Tuning of Model Predictive Controllers Based on Hybrid Optimization

A tuning procedure for a model predictive controller (MPC) is presented for multi-input multi-output systems. The approach consists of two steps based on a hybrid method: the goal attainment method and a variable neighborhood search. In the first step, the weights of the MPC objective function are obtained, minimizing the square error between the closed-loop response of the internal controller model and a predefined desired reference trajectory. In the second step, the integer variables of the problem (prediction and control horizons) are obtained, minimizing the square error between the closed-loop response and an optimal trajectory, aiming a controller with low computational cost and good performance. The proposed method was tested in two benchmark processes using different MPC formulations, showing satisfactory results.