Robust Integrated Design of processes with terminal penalty model predictive controllers

▶ The Integrated Design (ID) methodology includes linear Model Predictive Control. ▶ Optimization problem incorporate costs and dynamical performance norm based indexes. ▶ The ID provides dimensioning, control parameters and a stationary working point. ▶ The formulation guarantees stable MPC and robust performance with multiple models. ▶ The methodology is applied to the ID of the activated sludge process in a WWTP.