Experimental Application of Predictive Controllers

Table 2

Controller tuning.

Controller	Parameter
IHMPC	𝑁=10
	𝐑=10𝐈→100𝐈
	𝐐=𝐈
	𝐒=10𝐈
	Δ𝐮max=0.25 mL/s
RSMPC	𝐊=0.005𝐈
	𝐑=𝐈→𝐑=100𝐈
	𝐒=10000𝐈
	𝑁=2
	𝑃=10
	Δ𝐮max=0.5 mL/s
General parameters	Δ𝑡=10 s
	𝐮max=38 mL/s
	𝐮min=4 mL/s