A new Robust NMPC Scheme and its Application to a Semi-batch Reactor Example*

In this paper, a non-conservative robust nonlinear model predictive control scheme that can guarantee satisfaction of the constraints and optimal expected performance under uncertainty is introduced. The proposed control scheme is evaluated by simulations using a well known benchmark problem where the operation of a semi-batch polymerization reactors is optimized under very tight temperature tolerance limits. The simulation results show that the proposed scheme is capable of optimizing the process operation and, at the same time, it ensures robust operation within the whole range of uncertainties.