Model Based Control: Case Studies in Process Engineering

2.3.5.5 Stable DANMPC Control Law The performance index of the optimization problem from Eq. (2.61) can be written in matrix form as follows: ;(k) = E(k)TQ • E(k) + Au(k)TK • Aw(k) (2.62) where E — r — y is the model prediction error, ...